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Dades generals

Curs acadèmic:
2010
Descripció:
Crèdits:
6
Idioma principal de les classes:
Anglès
S’utilitza oralment la llengua anglesa en l'assignatura:
Completament (100%)
S’utilitzen documents en llengua anglesa:
Completament (100%)

Grups

Grup A

Durada:
Semestral, 2n semestre
Professorat:
Xavier Cufí Solé  / Andres El-Fakdi Sencianes  / Arnau Oliver i Malagelada  / Lluís Pacheco Valls

Altres Competències

  • The subject-specific understanding, knowledge and skills can be delivered through the consortium thanks to the pooling of the complementary contributions of the partner institutions, in terms of expertise, capacity and infrastructure for both research and teaching. The European nature of the consortium and course adds a benefit in terms of international awareness. Understanding, Knowledge and Subject- Specific skills of Computer Vision, Image and Signal Processing and Robotics
  • Broad knowledge of the main areas of the field, including terminology, conventions, underpinning theory, techniques and practices
  • Critical understanding of the applications of the techniques and systems, as well as of their scope and performance
  • Critical knowledge, understanding and skills in the mainstream and specialist areas covered by the syllabus.
  • Detailed and critical knowledge of one area of specialism, incorporating awareness of current issues and research; Cognitive and core skills: Develop and apply skills in critical analysis, evaluation and synthesis, and in the design of projects and experimental models; Deploy advanced problem-solving skills and techniques towards original and creative solutions to general and specialist issues. Develop and demonstrate skills and techniques: in oral and written communication with peers and academic/industrial staff, using a range of appropriate methods to suit different levels of knowledge and expertise within the audience; in the planning and usage of industry standard tools, programming languages and numerical techniques; in the ability to identify, formulate and resolve problems.
  • Professional Awareness: Demonstrate critical awareness of the current issues within the discipline, and make informed judgements with incomplete or inconsistent data, or where there are no professional/ethical codes or practices for guidance. Work autonomously and within teams, as appropriate, demonstrating a capability for both taking and critically reflecting on roles and responsibilities.
  • International awareness: Develop and demonstrate the ability to operate and interact successfully and positively within multicultural environments. Gain awareness of international nature of careers in research and industry.
  • To know the basic concepts about robotics
  • To acquire the knowledge about the performance of the main blocks of a industrial robot controller
  • To understand the different methods to represent the position and orientation.
  • To know how to characterize directly and inversely a kinematic chain
  • To acquire knowledge about the different programming methodologies for industrial robots, and the most standard programming languages

Continguts

1. Introduction

2. Operations with Reference Systems

3. Forward Kinematics

4. Inverse Kinematics

5. Path Generation and Control

6. Industrial Robot Programming

Activitats

Tipus d’activitat Hores amb professor Hores sense professor Total
Altres 1,00 0 1,00
Anàlisi / estudi de casos 2,00 4,00 6,00
Elaboració individual de treballs 1,00 3,00 4,00
Exposició dels estudiants 2,00 5,00 7,00
Lectura / comentari de textos 2,00 6,00 8,00
Prova d'avaluació 2,00 10,00 12,00
Resolució d'exercicis 4,00 20,00 24,00
Seminaris 15,00 13,00 28,00
Sessió expositiva 13,00 13,00 26,00
Sessió pràctica 12,00 21,00 33,00
Simulacions 0 6,00 6,00
Tutories de grup 6,00 0 6,00
Total 60,00 101,00 161

Bibliografia

  • Schilling, Robert J. (1990). Fundamentals of robotics : analysis and control. Prentice Hall.
  • Craig, John J. (1989). Introduction to robotics: mechanics and control (2n Edition). Addison-Wesley.
  • Ollero Baturone, Aníbal (2001). Robótica : manipuladores y robots móviles. Marcombo Boixareu.
  • Barrientos, Antonio (1997). Fundamentos de Robótica. McGraw-Hill.
  • Saltaren, Azorín, Almonacid, Sabater (2000). Prácticas de Robótica (utilizando Matlab). Universidad Miguel Hernández de Elche.

Avaluació i qualificació

Activitats d'avaluació:

Descripció de l'activitat Avaluació de l'activitat %
Proposal of a Team Work. Specifications and Characteristics of different Robotic Arms (Study of a Robot) This activity contributes to Study of a Robot (15 % of Course Mark)
Problems solving (Chapter 2). Use of Matlab Robotics Tools. Delivering the work to the teachers (Contribution to Problems to solve: 15% of the course mark)
Practical Work in the Lab: Tutorial about the simulation tool COSIMIR (COS) 1st practical session (week 2). This contributes to Lab Practices (30% of the course mark)
Proposal of Team Work (2). To model the forward kinematics (using MATLAB Robotics Toolbox) of the different robots assigned to the different Work Teams This activity contributes to Study of a Robot (15 % of Course Mark)
Presentations of the characteristics and the Matlab models of the different robotic arms This contributes to Study of a Robot (15% of the Course Mark)
Problems Solving (Chapter 3). The teachers assign 2 o 3 problems from a list to each Work Team (2 persons). The students must solve and present the problems to the teachers. Delivering the work to the teachers (Contribution to Problems to solve: 15% of the course mark)
Practical Work in the Lab: Simulation of a Palletization operation(RV-M2) Practical session. This contributes to Lab Practices (30% of the course mark)
Practical Work in the Lab: Tutorial about FANUC S-100 Robotic System and KAREL Programation Language. (FANUC) Practical session. This contributes to Lab Practices (30% of the course mark)
Practical Work in the Lab: Palletization Application using the Real Robot RV-M1 (RV-M1) Practical session. This contributes to Lab Practices (30% of the course mark)
Practical work in the Lab: Tutorial about Staubli Robotics Studio and Staubli TX-60 robot. Development of an application Practical session. This contributes to Lab Practices (30% of the course mark)
Problem Solving (chapter 4) Delivering the work to the teachers (Contribution to Problems to solve: 15% of the course mark)

We will start with the problems at the classroom, but the students must finish the proposed problems.
Proposal of Team Work (3). Using MATLAB Robotic Toolbox for representing the inverse kinematics of the different Robotic Arms assigned. The students must solve the different robotic arms and present the solutions to the teachers. Delivering the work to the teachers (Contribution to Study of a Robot: 15% of the course mark)
Seminar: Implementation of Robotic Solutions in Industrial Applications. Invited Professor: Xavier Pifarré (ABB, España) Activities proposed by the Invited Professor. Contributes to Test - tutorials (15% of Course Mark)
Practical Work in the Lab: Simulation of a Painting Station (Paint) Practical session. This contributes to Lab Practices (30% of the course mark)
Problem Solving (chapter 5): The teachers assign some problems to students from a list to eah Work Team (2 persons). The students must solve and present the problems to the teachers. Some of the problems will be solved using Matlab Robotic Toolbox Delivering the work to the teachers (Contribution to Problems to solve: 15% of the course mark)
Seminar: Medical Robotic Applications. Invited Professor: Prof. Alícia Casals (Polytechnical University of Catalonia) Activities proposed by the Invited Professor. Contributes to Test - tutorials (15% of Course Mark)
Examination about theory concepts. Evaluation activity based on solving a questionnaire. The use of auxiliary books, notes and tools is not allowed. Test is 25% of the Course Mark
Extra practical sessions in the Lab (2 hours each lab group) Practical session. This contributes to Lab Practices (30% of the course mark)

Qualificació

The final mark will be calculated according to the marks obtained in each evaluated activity and according to these percentages:

30% - Lab Practices
25% - Problems to Solve
15% - Personal Work - Activities
15% - Test
15% - Group Presentations

Assignatures recomanades

  • Autonomous Robots

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