Linear algebra and analytic geometry, Matrix Calculus, Differential Calculus, Theory of Systems and Control, Mechatronics, Sensors and Actuators.
Theoretical classes using audio-visual means: detailed exposition of concepts, principles and methodologies fundamental to Robotic Manipulation, complemented by Laboratory classes to practice the concepts taught y performing simulation studies in Matlab and with the Eshed manipulator. In parallel a set of homework problems are handed to students that intended to reflect the nature of the various mid-term tests of the course. The evaluation process adopted intended to stimulate lifelong learning of the student, considering two components of assessment: theoretical/practical and laboratory.
This course introduces the science and engineering of mechanical manipulation, a sub-discipline of Robotics that has its foundation in several classical fields.
Provide students with the fundamental concepts of robotics, particularly in
1. Obtaining geometric models, kinematic and dynamic robot manipulators.
2. Trajectory generation and task planning.
Skills to develop:
It is intended that students acquire skills in analysis and synthesis, formulation and problem solving, critical thinking, independent learning and ability to apply theoretical concepts of nature to practical problems.
Ultimately, we intend to provide (in-depth) knowledge in Robotics and acquiring competencies to all of
1. "Those who wish to operate and / or develop applications that use robots or robotic systems";
2. "Those who wish to develop / design robotic systems"
2. Spacial descriptions and Transformations
3. Manipulator Kinematics
4. Inverse Manipulator Kinematics
5. Jacobians : velocities and static Forces
6. Manipulator Dynamics
7. Trajectory Generation : Joint space and cartesian space.
Jorge Manuel Moreira de Campos Pereira Batista
Test 50% or problem resolving fieldwork 15% + fieldwork or laboratory work 35%: 50.0%
Exam 50% or problem resolving fieldwork 15% + fieldwork or laboratory work 35%: 50.0%
• John J. Craig (2005), Introduction to Robotics : Mechanics and Control, Third Edition, Prentice Hall, 2005.
(Livro Recomendado para estudo durante grande parte do curso)
• P. McKerrow (1993), Introduction to Robotics, Addison-Wesley, 1993.
• M. Spong, S. Hutchinson, M.Vidyasagar (2005), Robotics Modeling and Control, John Wiley&Sons, 2005.
• R.J. Schilling (1990), Fundamentals of Robotics: Analysis & Control, Prentice Hall, 1990.
• K. Fu, R. Gonzalez, C.Lee (1987), Robotics: Control, Sensing,Vision & Intelligence, McGraw-Hill, 1987.
Batista, J. (2006-2012) – Diapositivos das aulas teóricas de Robótica, DEEC-FCTUC.