Class Introduction to Robotics

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:

1. Acquire and / or deepen knowledge about manipulation robotics, offline programming, offline simulation, online simulation, etc.
2. 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

1. Fundamentals of Robotics.
   1. History and application scenarios. Types of robots: structure and typology of manipulators.
   2. 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.

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.

• 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