Publication in the Diário da República: Despacho n.º 7795/2021 - 09/08/2021
6 ECTS; 3º Ano, 2º Semestre, 28,0 T + 42,0 PL , Cód. 911257.
Lecturer
- Ana Cristina Barata Pires Lopes (1)(2)
(1) Docente Responsável
(2) Docente que lecciona
Prerequisites
N.A.
Objectives
The aim is for students to acquire knowledge and skills regarding the operation and use of robotic systems, particularly in terms of technological aspects, operating characteristics, and the programming of manipulator and mobile robots. This course unit will specifically cover sequential manipulator robots and mobile robots with different types of locomotion.
Students are expected to gain an understanding of the morphology and kinematics of these types of robots. Navigation methods for mobile robots will also be addressed. Additionally, students will develop programming skills for industrial manipulator robots, particularly ABB robots using the RobotStudio simulator.
Furthermore, students will acquire knowledge in programming mobile robots based on the Arduino/ESP32 and Raspberry Pi platforms, as well as in utilizing the ROS2 (Robot Operating System).
Program
1) Introduction.
2) Spatial descriptions and transformations.
3) Robot morphology:
i. Robot components;
ii. Joints;
iii. Workspace;
iv. Kinematic structures;
4) Robot kinematics:
i. Forward kinematics;
ii. Inverse kinematics;
5)Introduction to mobile robot navigation:
i. Actuators and sensors for mobile robotics;
ii. Locomotion;
iii. Kinematic model of a mobile robot;
iv. Localization and mapping;
v. Navigation;
vi. Introduction to ROS2, robotic platforms based on Arduino/ESP32 microcontrollers, and Raspberry Pi.
Evaluation Methodology
Laboratory and simulation work (50%), written exam (50%) (a minimum score of 40% in the written exam and a minimum score of 50% in the laboratory and simulation work is required).
Bibliography
- Craig, J. e Smith, P. e Giraldes, E. (1989). Introduction to Robotics.. Addison-Wesley Longman: Publishing Co
- Quingley, M. e Gerkey, B. e Smart, W. (2016). Programmimg Robots with ROS: a pratical introduction to the robot operating system.. USA: O'Reilly
- Siegwart, R. e Nourbakhsh, I. e Scaramuzza, D. (2011). Introduction to Autonomous Mobile Robots, Second Edition. USA: The MIT Press
- Tzafestas, S. (2014). Introduction to Mobile Robot Control.. Elsevier: Elsevier Inc.
Teaching Method
Theoretical classes with practical exercises, laboratory experiments, and simulations.
Software used in class
ABB RobotStudio;
Arduino Ide;
ROS2 (Robotic Operating System).
UBUNTU.
