Robotic Systems

Algebra

The necessary elements are gradually introduced to understand the fundamentals of the systems robotic. Direct and inverse kinematics, direct and inverse Jacobian, static force and trajectory planning, including application examples. It is complemented with the use of a real robot (mobile robot with manipulator) as well as the development of its virtual model. In a second phase, an introduction to the programming of the Motoman robot was made both at the console level and on its own virtual system (Motosim). The study of the themes is accompanied by laboratory work carried out in the laboratory.Finally, sensors for industrial robots and safety systems for protecting robotic cells.
Work done
Implementation of several works using the Motoman robot in the laboratory, as well as a robot mobile with manipulator, and a hyper-redundant robot. (TP1 – Robot Motoman, beginning 3rd week and ending 6th week; TP2 – Virtual manipulation, beginning 7th week and ending 9th week; TP3 – Virtual Robot and real control, beginning 10th week and ending 15th week.

The Curricular Unit of Robotic Systems offers students an overview of the themes and technologies involved in robotic systems, namely industrial robotics and medical robotics. Students will verify the understanding of these topics through the simulation and implementation of real systems. At the end of this course unit the student should be able to: Model robots; Program robots; Develop the control of the robot in the robotic simulator; Identify the most suitable robot, security systems and sensors for different applications.

Part I (João Paulo Morais Ferreira)
1. Introduction to Robotics
2. Basic of robotics
3. Main configurations of the robots
4. Sensors for robots
5. Security systems
6. Path planning
7. Mobile robotic systems
8. Robot programming languages
9. Robotic systems simulation tools
Part II (Fernanda Madureira Coutinho)
10. Teleoperation and telepresence in robotic manipulation

NAO

Main / mandatory bibliography:

1. Ferreira, J.P. (2021). Notes of theoretical and practical classes. Coimbra: ISEC, available to students through institutional platform.
2. Coutinho, F. (2021). Slides used in classes, available to students through institutional platform.

Complementary bibliography:

3. Fu, K.-S., Gonzalez, R. C., & Lee, C. S. G. (1987). Robotics: Control, Sensing, Vision and Intelligence. McGraw-Hill series in CAD/CAM, robotics and computer vision. McGraw-Hill.
4. Robotics Industries Association (1992). American national standard for industrial robots and robot systems—Safety requirements ANSI/RIA R15.06. Robotics Industries Association.
5. Craig, J. (1989). Introdution to Robotics Mechanics and Control. Addison-Wesley.
6. Sciavicco, L., & Siciliano, L. (2001). Modelling and Control of Robot Manipulators. Springer.
7. Mckerrow, P.J. (1991). Introduction to Robotics. Addison-Wesley.
8. Motoman (2007). Manual lnform. Motoman.
9. Siciliano, B., & Khatib, O. (Edits.). (2017). Springer Handbook of Robotics. ISBN 978-3-319-32550-7.