Robótica de Manipulação

Objectives

The purpose of this course is to provide the student with the fundamental concepts associated with the design of robot manipulators, namely the planning of trajectories and the control of position and force of robot manipulators. The theoretical training of the student is complemented by the operation of robot manipulators in the laboratory and the development of problems applied to various areas in the field of mechanical engineering and through the realization of an experimental project.

Syllabus

Introduction: structures of manipulators, industrial, field and service robots; Revisions of concepts: manipulator kinematics (rigid body position and orientation, open and closed kinematic chain, direct kinematics, joint and work space), kinematic calibration, inverse kinematics; remote center of rotation; differential and static kinematics (geometric and analytical Jacobian, redundancy, singularities, inverse differential kinematics, static) kinetico-static duality, manipulability ellipsoids; Trajectory planning: paths and trajectories, trajectories in the joint space, trajectories in the operational space; Actuators and sensors: joint actuators, servomotors, internal and external sensors; Control architecture; Manipulator dynamics: dynamic trajectory scaling, dynamic working space model, dynamic manipulability ellipsoid; Motion control; Interaction Control; Industrial aplications and current challenges.

Prerequisites

Approval in Systems Identification or equivalent course.

Cross Competence Component

Critical and Innovative thinking (criativity, strategic thinking, approaches to problem solution) - 20% of the Laboratory Project evaluation component Interpersonal Competences (oral presentations, comunication and organizational competences, team work, etc.) - 10% of the Laboratory Project evaluation component Intrapersonal Competences (self discipline, enthusiasm, perserverance, self motivation, stc.) - 5% of the Laboratory Project evaluation component

Laboratorial Component

1. Development of the direct and inverse kinematics, Jacobian, trajectory planning and controler for a robot manipulator. 2. Implementation in one of the platforms (Matlab/Simulink, ABB RAPID or KUKA KRL) available in the robotics laboratory of the Department of Mechanical Engineering.

Programming And Computing Component

Programming in Matlab/Simulink.

Ethical Principles

All members of a group are responsible for the group’s work In any assessment, every student shall honestly disclose any help received and sources used. In an oral assessment, every student shall be able to present and answer questions about the entire assignment and solution.