Robotic Systems

Code: EME13197M

6 ECTS

Duration: 15 weeks/156 hours

Scientific Area: Electrotechnical Engineering, Mechanical Engineering

Teaching languages: Portuguese

Languages of tutoring support: Portuguese, English

Regime de Frequência: Presencial

Sustainable Development Goals

Educação de qualidade - Assegurar a educação inclusiva, e equitativa e de qualidade, e promover oportunidades de aprendizagem ao longo da vida para todos.

Learning Goals

The student will consolidate his knowledge in robotic systems (Manipulators and AGVs). kinematics and Dynamical models, Robotic Sensors and Actuators.
The student will gain special know-how in vision-sensors. The student will have the capability to implement an image processing system, in the domain of pattern recognition. The vision-sensor information is processed in order to control the trajectory of terrestrial AGVs.

1) Manipulator robots. Robot classes. Components of a robotic system.
2) Mathematical models of typical joints. Kinematic chains. Kinematics and linear transformations: direct kinematics and inverse kinematics.
3) Robot Dynamics: Lagrange and Newton-Euler formulations.
4) Robot Control: independent joint-control, work space-control, gripper position and force control.
5) Robotic sensors: position/speed, proximity, force/torque, artificial vision sensors.
6) Automatic vision. Equipment for industrial vision. Digital signal processing. Filtering. Textures and form classification. Introduction to pattern recognition.
8) Integration of artificial vision in the automatic guidance of terrestrial AGVs (Processing with NI-LabView or similar).

Teaching Methods

The teaching method is based on theoretical classes and Practical-Laboratorial classes. An active learning system is focused to stimulate the student to make his own research on the matters presented in the classes.
Practical problems are solved, in laboratory experimental context, what allow the students to identify and to become familiar with the studied industrial technology.

Assessment

The assessment method has 2 alternatives: I) Continuous Assessment; II) Assessment during the Examinations period:

I) Continuous Assessment:
P1a = Simulation project on manipulation robots;
or P1b = Experimental project on manipulation robots;

P2a = Experimental project on artificial vision with Pattern Recognition, integrated in Industrial Automation environment (PLC);
or P2b = Experimental project on mobile robots.

The final grade is calculated by: 0,5x(P1a or P1b) + 0,5x(P2a or P2b)
with (P1a ou P1b)>9,5 e (P2a ou P2b)>9,5

II) Assessment during the Examination's period:
P1a = Simulation project on manipulation robots;

P2a = Experimental project on artificial vision with Pattern Recognition, integrated in Industrial Automation environment (PLC);

The final grade is calculated by: 0,5xP1a + 0,5xP2a
with P1a>9,5 e P2a>9,5