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Presentation
Presentation
This course aims to study the multidisciplinary area of Robotics, namely the set of subjects that come together in the development of a robot from scratch. It is intended that students: Acquire and / or deepen knowledge about manipulation robotics, offline programming, offline simulation, online simulation, etc. Obtain knowledge in the construction, programming and optimization of mobile robotics models that allow the autonomous performance of some activities. In the end, students should be able to actively intervene in this area, promoting solutions, but also at the technical and project level. The course includes a series of practical assignments, allowing students to perform some of the techniques covered
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Class from course
Class from course
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Degree | Semesters | ECTS
Degree | Semesters | ECTS
Bachelor | Semestral | 5
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Year | Nature | Language
Year | Nature | Language
1 | Mandatory | Português
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Code
Code
ULHT46-16623
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Prerequisites and corequisites
Prerequisites and corequisites
Not applicable
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Professional Internship
Professional Internship
Não
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Syllabus
Syllabus
1. Fundamentals of Robotics. a. History and application scenarios. Types of robots: structure and typology of manipulators. b. Position and orientation. Coordinate systems. Direct and inverse kinematics.Singularities. Robotic technology. 2. Introduction to Python programming for robot control in the webots simulator 3. Control of Robotic arms: Trajectories and Structures. Linear and non-linear control: Sensors and Force control. 4. Programming Robot Manipulators: Industrial Controllers Languages. Off-line and on-line programming. 5. Mobile robotics. Structure of a mobile robot. Most common sensors and actuators. 6. Study of the Arduino controller board and its application in several projects to be developed. Introduction to C programming for Arduino. 7. Presentation of the intermediate projects and how they will be developed. 8. Final project in the Robotics laboratory.
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Objectives
Objectives
Knowledge: Control loop with sensors and actuators, kinematic models, programming of mobile robots, simple models of sensors, simple models of actuators. Skills: Construction, development and programming of robotic models, which can be used to solve various problems. Competences: Python programming, C programming, implementation of Arduino programs, motor control using sensor input in C for Arduino IDE
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Teaching methodologies
Teaching methodologies
Use of the questioning method, which aims to make questions to the students. These questions aim to understand the advantages and limitations of the subject of study.
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References
References
Robótica Móvel. R. Romero (et al.) Editora: GEN, Rio Janeiro, 2014 Introdução à Robótica. Maja J. Mataric. Editora: BLUCHER, 2014. Introdução à Robótica. João S. Sequeira. Editora: IST Press, 2024. Arduino para Robótica. John-David Warren, Josh Adams, Harald Molle. Editora: BLUCHER, 2019
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Assessment
Assessment
A nota de avaliação contínua corresponderá à média ponderada, arredondada para a decima, das notas das apresentações orais dos trabalhos de simulação em webots e dos trabalhos de acordo com a seguinte ponderação: 25% para o exame, 5% para cada trabalho no simulador webots (com um total de 5 trabalhos) , 20% para o projecto intercalar e 30% para o projecto final. Para obter aprovação na disciplina a nota mínima média dos trabalhos individuais é de 9 valores e a nota mínima média dos trabalhos é 9 valores.
Trabalhos no simulador webots:
Lab 1: Desvio de obstáculos
Lab 2: Robô pioneer a fazer um quadrado Lab 3: Pendulo Invertido com controlador PID
Lab 4: Pick-and-place, controlo em malha aberta vs malha fechada
Lab 5: Sair de um buraco, limites do controlo em malha fechada
Projecto intercalar: Visa desenvolver as capacidades necessárias de integração de sensores e atuadores no Arduino.
Projecto Final: Visa desenvolver as capacidades de conceção mecânica de robôs, ligado com a componente de programação da placa Arduino.
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Mobility
Mobility
No
