Robotics

Code:

M.EEC007

Acronym:

ROB

Keywords
Classification	Keyword
OFICIAL	Automation and Control

Instance: 2021/2022 - 2S

Active?	Yes
Responsible unit:	Department of Electrical and Computer Engineering
Course/CS Responsible:	Master in Electrical and Computer Engineering

Cycles of Study/Courses

Acronym	No. of Students	Study Plan	Curricular Years	Credits UCN	Credits ECTS	Contact hours	Total Time
M.EEC	94	Syllabus	1	-	6	45,5

Teaching language

Portuguese and english
Obs.: Suitable for English-speaking students

Objectives

A. Understand the operation and use of robotic systems.

B. Master the technological aspects involved in the design, operating characteristics, programming and
robotic system applications.

Learning outcomes and competences

In the end students will be able to:

- Know the different types of sensors used in robotics.

- Understand the different modules that make up a mobile robot.

- Perform an analysis of the direct and inverse kinematics of a manipulator.

- Understand speed, position and force control algorithms.

- Understand the various components of a cell or a robotic system.

- Analyze the different kinematic configurations of mobile robots.

- Program industrial manipulators.

Working method

Presencial

Pre-requirements (prior knowledge) and co-requirements (common knowledge)

Algebra, matrix calculus, trigonometry.

Program

I. Introduction to robotics, its evolution and future trends.
II. Different configurations of mobile robots and manipulators.
III. Sensors and actuators normally used in robotics. Inertial systems.
IV. Principles of Robot Control: Speed control; Position control; Force control
V. Representation of rotations (matrices, quaternions, Euler angles)
VI. Homogeneous transformations
VII. Direct kinematics analysis of manipulators by the Denavit-Hartenberg method
VIII. Inverse kinematics analysis of manipulators.
IX. The Jacobian of a manipulator. Singularities, velocities, forces and binaries.
X. Simulators, architectures and tools to support the development of robotic applications.
XI. Programming languages of manipulators and type of trajectories.
XII. Robotic cells. Collaborative cells and collaborative manipulators.
XIII. Analysis of the kinematics of mobile robots.

Mandatory literature

Mark W. Spong; Robot modeling and control. ISBN: 0-471-64990-2

Teaching methods and learning activities

* The teaching of this course is developed in theoretical and laboratory lessons.
* Lectures: formal theoretical basis exhibition, wherever possible with real application examples.
* Laboratory/practical: exploration of some existing software and implementation of practical work with real situations
(work in group).
* It is proposed a practical work for continuous evaluation and development, which must have an individual final
report/presentation. The work consists of the development, in simulation, of a robotic cell and programming the
manipulator to perform a specified task. Later the developed program could be implemented and tested in a real
manipulator.

Evaluation Type

Evaluation with final exam

Assessment Components

Designation	Weight (%)
Participação presencial	5,00
Exame	75,00
Teste	15,00
Trabalho laboratorial	5,00
Total:	100,00

Amount of time allocated to each course unit

Designation	Time (hours)
Estudo autónomo	80,00
Frequência das aulas	45,50
Trabalho escrito	36,50
Total:	162,00

Eligibility for exams

The general rules applied at FEUP, presence at laboratory classes, active participation in pratical works with individual report aproval.

Calculation formula of final grade

Final exam: 75%
Individual report/presentation: 5%
Performance during laboratorial classes: 5%
Mini test: 15%

Special assessment (TE, DA, ...)

The general rules applied at FEUP.

Classification improvement

Special exam to improve classification.