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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 | 3
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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
Fundamentals of Robotics. History and application scenarios. Types of robots: structure and typology of manipulators. Position and orientation. Coordinate systems. Direct and inverse kinematics.Singularities. Robotic technology. Introduction to Python programming for robot control in the webots simulator Control of Robotic arms: Trajectories and Structures. Linear and non-linear control: Sensors and Force control. Programming Robot Manipulators: Industrial Controllers Languages. Off-line and on-line programming. Mobile robotics. Structure of a mobile robot. Most common sensors and actuators. Study of the Arduino controller board and its application in several projects to be developed. Introduction to C programming for Arduino. Presentation of the intermediate projects and how they will be developed. 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
S. Niku, "Introdução à Robótica: Analise, Controle e Aplicações", GEN, Rio Janeiro, 2013. R. Romero (et al.), "Robótica Móvel", GEN, Rio Janeiro, 2014 S. Monk, "30 Projectos com Arduino", Bookman, Porto Alegre, 2014. W. Bolton, "Mechatronics", Pearson, London, 2015
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Assessment
Assessment
Descrição
Data limite
Ponderação
Exame 19-06-2026 25% Simulação em webots
19-06-2026
25%
Projecto intercalar
01-05-2026
20%
Projecto final
19-06-2026
30%
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, 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. Cada trabalho de simulação em webots, assim como o projecto intercalar e o projecto final têm uma sessão de discussão oral, com uma ponderação de 55% na nota de cada trabalho.
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Mobility
Mobility
Yes
