Publication in the Diário da República: Despacho n.º 14908/2014
6 ECTS; 1º Ano, 2º Semestre, 15,0 T + 15,0 PL + 15,0 TP + 3,0 OT , Cód. 37468.
Lecturer
- Bruno Miguel Santana Chaparro (2)
- Toni dos Santos Alves (2)
(1) Docente Responsável
(2) Docente que lecciona
Prerequisites
Not applicable
Objectives
At the end of this course students should be able to choose the type of robot suitable for the desired application and understand any programming language of manipulators.
Program
1. INTRODUCTION TO ROBOTICS
2. INDUSTRIAL APPLICATIONS OF ROBOTS
2.1. Transport of materials
2.2. Process Operations
2.3. Assembly operations
2.4. Inspection and testing operations
3. STRUCTURE AND TYPES OF MANIPULATORS
3.1. Sensors and actuators
3.2. Type arms and gripper
3.3. Controllers
3.4. Type joints
3.5. Workspace
3.6. Types of handlers
3.7. Resolution, repeatability and precison
4. COORDINATE SYSTEM
4.1. System axes
4.2. Vectors and matrices
4.3. Geometric transformations
4.4. Coordinates homogeneous
4.5. Transformation matrices to 3 dimensions
5. KINEMATICS OF MANIPULATORS
5.1. Algorithm direct kinematics
5.2. Parameters of links and joints
5.3. Assigning coordinate systems
5.4. Orientation angles based on the joint variables
6. INVERSE KINEMATICS
6.1. Algorithm inverse kinematics
6.2. Resolution exercises
Evaluation Methodology
The course evaluation consists of two forms: continuous assessment (assessment during the class period) and summative (final exams).
Bibliography
- Pires, N. (2002). AUTOMAÇÃO INDUSTRIAL. : ETEP
- Rosário, J. (2010). ROBÓTICA INDUSTRIAL I : MODELAGEM, UTILIZAÇÃO E PROGRAMAÇÃO. : ão Paulo: Baraúnaú
- Santos, V. (2004). Robótica Industrial. (Vol. 1). (pp. 01-166). Aveiro: Universidade Aveiro
Teaching Method
The learning methodologies are based on the lecture method of the syllabus and in a practical work
(programming manipulators robot). The practical work is intended to allow an approach to the industrial
environment.
Software used in class
Not applicable
