| Code |
8561
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| Year |
3
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| Semester |
S1
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| ECTS Credits |
6
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| Workload |
PL(30H)/T(30H)
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| Scientific area |
Informatics, Automation and Control
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Entry requirements |
Not applicable.
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Mode of delivery |
Face-to-face
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Work placements |
Not applicable
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Learning outcomes |
This Curricular Unit aims to make an introduction to the study of the multidisciplinary field of Robotics, featuring the various functional subsystems that make up a robot in an individualized and integrated way, as well as topics of robotic manipulation and navigation through path planning.
At the end of the course unit the student should be able to:
- Identify different types of robots with respect to its anatomy and actuators, as well as to discuss the operation and/or development of robotic applications;
- Apply the equations and calculation techniques for determining the Cartesian position as well as the position and angle of the prismatic and rotational joints of a robot.
- Identify the basic characteristics of locomotion for mobile robots;
- Describe the main types of sensors used in robotics;
- Implement algorithms for trajectory planning/paths in mobile robot navigation;
- Apply the knowledge to construct a robot, being also able to work in team.
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Syllabus |
1. Introduction to robotics
2. Types of robots: robots anatomy and actuators. Introduction on computer-controlled robotic manipulators and examples
3. Position and motion of robotic manipulators: Coordinate frames and transformations
4. Forward kinematics, the Denavit-Hartenberg convention
5. Inverse kinematics
6. The Jacobian, singularities
7. Motion and path planning
8. Robotic manipulators dynamics
9. Control and programming
Special topics:
10. Sensors and actuators
11. Mobile agents, SLAM
12. Computer vision
13. MEMS, microrobotics
14. Medical/Surgical robotics, teleoperation
15. Biomimetic systems
16. Intelligent robotics. Concepts of artificial intelligence and intelligent systems
17. Fuzzy logic. Fuzzy control, fuzzy logic controllers
18. Artificial Neural Networks: Models and architecture of artificial neural networks. Learning in robotics
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Main Bibliography |
1. Primary:
- "Apontamentos de Robótica", Pedro Dinis Gaspar. Universidade da Beira Interior, 2011.
- "Robot Modeling and Control", Mark W. Spong, Seth Hutchinson, M. Vidyasagar. Wiley, John & Sons Inc., 2005. ISBN: 0-471-64990-2.
- "Introduction to Robotics", Philip John McKerrow. Addison-Wesley, 1991. ISBN: 0-20-118240-8.
- "Robot Technology Fundamentals", James G Keramas. Delmar Learning, 1998. ISBN: 0-8273-8236-7.
2. Secondary:
- "Introduction to Robotics: Mechanics and Control", John J. Craig, Addison-Wesley, 1986. ISBN: 0-20-154361-3.
- "Robotics for Engineers", Yoram Koren, McGraw-Hill, 1986. ISBN: 0-07-035399-9.
- "Modelling and Control of Robot Manipulators", Series: Advanced Textbooks in Control and Signal Processing Sciavicco, Lorenzo, Siciliano, Bruno Springer-Verlag London Berlin Heidelberg, 2nd ed. 2000. ISBN: 1-85233-221-2.
- "Robot Manipulators: Mathematics, Programming and Control", Paul, R.P., MIT Press, Cambridge, 1981.
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Teaching Methodologies and Assessment Criteria |
The teaching/learning activities aimed at grasping the content related to the competences to be acquired are divided into: lectures to explain the subject and laboratory classes to solve exercises and apply the concepts and knowledge acquired, and the development of competences in group work.
TAS - Analysis and synthesis and simulation work (30%): Development of a work summarising bibliographical research on a topic associated with path planning for autonomous mobile robots. This work also includes the development of code to simulate robot path planning. The use of Matlab will be required.
LAB (70%): Development of a robotic project (Robot@Factory Lite) for participation in the National Robotics Festival competition.
Final grade = TAS + LAB
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Language |
Portuguese. Tutorial support is available in English.
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