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Robotics

Code:

LACI31025

Sigla:

ROB

Áreas Científicas
Classificação	Área Científica
OFICIAL	Controlo e Processos

Ocorrência: 2023/2024 - 1S

Ativa?	Yes
Página Web:	https://ipsetubal.sharepoint.com/:f:/s/Robtica_TP-2022/EndzSF7_5k9Nlt2wcECoIZ0BJgXfmYVLfXDFcbe6Ss4wLg?e=vZybPd
Unidade Responsável:	Departamento de Sistemas e Informática
Curso/CE Responsável:

Ciclos de Estudo/Cursos

Sigla	Nº de Estudantes	Plano de Estudos	Anos Curriculares	Créditos UCN	Créditos ECTS	Horas de Contacto	Horas Totais
EACI	9	Plano de Estudos 14	3	-	6	75	162

Língua de trabalho

Portuguese

Objetivos

Know the characteristics of industrial robots and their integration in robotic cells.
Have online and offline robot manipulator programming skills.
Know the calibration methodologies of tools and training bases.

Resultados de aprendizagem e competências

On successful conclusion of the curricular unit, student will be able to:
•Understanding the structures of the robots as well as some types of industrial robots and their applications.
•Manipulating homogeneous transformation operators and apply them to the case of robots.
•Knowledge how determine the position of each joint to perform a desired robot tasks. 
•Determining the kinematic robot model and apply this to the robot simulation problem.
•Knowledge and implement the robot path planning.
•Mathematically Model the movement of manipulators
•Knowledge and development of robot manipulators programs.
•Understanding the basic mechanical concepts, power transfer, sensors,terminal elements, motors, controllers and its architecture.

Modo de trabalho

Presencial

Programa

1-Introduction to Robotics. Applications of industrial robot manipulators. Specifications of a robot.
2-Coordinate frames and homogeneous transformations. Position coordinates, orientation coordinates and frames. Mappings: coordinates transformation. Operators: translation,rotation and homogeneous transformations.
3-Direct Kinematics. Coordinates of the links. Actuators space, joint space and Cartesian coordinates. Convention for the reference placement. Denavit Hartenberg (D-H) representation. Kinematic parameters. Euler transformation.
4-Inverse Kinematics of the Manipulators.
5-Path Planning trajectories. Path planning in joint and Cartesian space. Trajectory planning in orientation and position.
6-Robot control. PID Control, DynamicControl ,impedance control and visual control.
7-The Robotic Industry. Sensors and actuators. Programming languages. Practical aspects of robots in industry.

Bibliografia Obrigatória

Paulo Ferreira; Sebenta Robótica, 2020
J. Norberto Pires; Robótica Industrial - Industria 4.0, 2018. ISBN: 978-989-752-226-0

Métodos de ensino e atividades de aprendizagem

•Lectures: exposure of matter with demonstrations, examples and exercises. •Laboratory classes: assemblies for robot simulation and real robots similar with the used intheregional industry particularly in Automotive Industry. Development of robot programs.

Tipo de avaliação

Distributed evaluation with final exam

Componentes de Avaliação

Designation	Peso (%)
Teste	70,00
Trabalho laboratorial	30,00
Total:	100,00

Componentes de Ocupação

Designation	Tempo (Horas)
Frequência das aulas	45,00
Trabalho laboratorial	30,00
Estudo autónomo	85,00
Total:	160,00

Obtenção de frequência

Carrying out evaluation tests and laboratory work.

Fórmula de cálculo da classificação final

Final Grade = 0.7* Written test +0.3* Lab

The laboratory grade must be at least 9.5 values.

Students are evaluated through written tests and work carried out in the laboratories.

Minimum test score: 7.5