CG1 Organitzar i avaluar la pròpia activitat d'aprenentatge i de recerca i elaborar estratègies per millorar-les. CG1- Organitzar i avaluar la pròpia activitat d'aprenentatge i de recerca i elaborar estratègies per millorar-les CB6 Posseir i comprendre coneixements que aportin una base o oportunitat de ser originals en el desenvolupament i/o aplicació d'idees, sovint en un context d'investigació. CB6- Posseir i comprendre coneixements que aportin una base o oportunitat de ser originals en el desenvolupament i/o aplicació d'idees, sovint en un context d'investigació CB7 Que els estudiants sàpiguen aplicar els coneixements adquirits i la seva capacitat de resolució de problemes en entorns nous o poc coneguts dins de contextos més amplis relacionats amb la seva àrea d'estudi. CB7- Que els estudiants sàpiguen aplicar els coneixements adquirits i la seva capacitat de resolució de problemes en entorns nous o poc coneguts dins de contextos més amplis relacionats amb la seva àrea d'estudi CB10 Que els estudiants tinguin les habilitats d'aprenentatge que els permetin continuar estudiant d'una manera que haurà de ser en gran manera autodirigida o autònoma. CB10- Que els estudiants tinguin les habilitats d'aprenentatge que els permetin continuar estudiant d'una manera que haurà de ser en gran manera autodirigida o autònoma CE1 Programar, a nivell avançat, en els llenguatges i llibreries més utilitzats en la robòtica de camp intel·ligent. CE1- Programar, a nivell avançat, en els llenguatges i llibreries més utilitzats en la robòtica de camp intel·ligent CE8 Comprendre els fonaments matemàtics dels algorismes utilitzats en els sistemes robòtics intel·ligents. CE8- Comprendre els fonaments matemàtics dels algorismes utilitzats en els sistemes robòtics intel·ligents CE10 Aprendre i utilitzar les principals tècniques de control i planificació de trajectòries en manipuladors i vehicles autònoms.
1. Introduction to industrial manipulators 2. Coordinate systems 3. Forward Kinematics 4. Inverse Kinematics 5. Differential Kinematics 6. Dynamics 7. Trajectory Control and generation 8. Industrial Manipulators Programming
Tipus d’activitat Hores amb professor Hores sense professor Hores virtuals amb professor Total Prova d'avaluació 6,00 0 0 6,00 Resolució d'exercicis 8,00 38,00 0 46,00 Sessió expositiva 26,00 20,00 0 46,00 Sessió pràctica 22,00 30,00 0 52,00 Total 62,00 88,00 0 150
Corke, Peter I (2011). Robotics, vision and control : fundamental algorithms in Matlab . New York: Springer. Siciliano, Bruno & Sciavicco, Lorenzo & Luigi, Villani & Oriolo, Giuseppe. (2011). Robotics: Modelling, Planning and Control.. Springer.
Activitats d'avaluació: Descripció de l'activitat Avaluació de l'activitat % Recuperable Lab 2: Pick and Place with the Stäubli TS60/TX60 This lesson consists in the programming of the Stäubli TX60 to develop a simplified robot manipulation in a Pick and Place environment. The student will work with the computer and also directly with the robot. Like there is only one robot for all the students, it will be required to work as much as possible in simulation. The lab consists of different levels, allowing the students to reach one or another, depending on their skills and interest. The evaluation criteria will follow different points: - Level reached. - Program. - Report. Level reached - Level 1: 4/10. - Level 2: 6/10. - Level 3: 8/10. If Level 3 is reached, is not necessary to send Level 2 (also applies for Level 1, and for Level 1 from Level 2). Program Up to 1/10. - Performance of the robot: the optimal functions are used in each situation, the optimal paths are developed, the optimal speeds are set, etc. - Use the optimal tool and frame for each situation. - Intuitive messages in the MCP. - Good structuration of the code, self-explaining code. Report Up to 1/10. In the report, the students have to develop a formal document where they have to present the application, what they are asked to develop, and how they had developed. The code developed also has to be explained, making emphasis on the functions used. The student can add a final section where suggestions to improve the laboratory sessions can be d 17 No Lab 3: Machine vision application. The evaluation criteria will follow different points: Level reached. Program. Report. Progress. Level reached Level 1: 4/10. Level 2: 6/10. Level 3: 8/10. If Level 3 is reached, is not necessary to send Level 2 (also applies for Level 1, and for Level 1 from Level 2). Program Up to 1/10. Performance of the robot: the optimal functions are used in each situation, the optimal paths are developed, the optimal speeds are set, etc. Use the optimal tool and frame for each situation. Intuitive messages in the MCP, as well as comments in the code. Good structuration of the code, self-explaining code. Report Up to 1/10. In the report, the students have to develop a formal document where they have to present the application, what they are asked to develop, and how they had developed. The code developed also has to be explained, making emphasis on the functions used. The student can add a final section where suggestions to improve the laboratory sessions can be done. Progress Will add extra points if total is less than 10. The report must also include the answers of the questions included in the deliverable section, as well as the dificulties found while developing the application and the actions performed to solve them. The extra dificulty for groups worked with TX60 robot will be considered. 17 No Lab 4: Robot manipulation with ROS. The evaluation criteria will follow different points: Level reached. Completition quality. Report. Progress. Level reached Level 1: 4/10. Level 2: 6/10. Level 3: 8/10. Completition quality Up to 1/10. Robot modelling parts and composition. The use of colours, parameters, etc. Code good structuration. Report Up to 1/10. In the report, the students have to develop a formal document where they have to present the application, what they are asked to develop, and how they had developed. The code developed also has to be explained, making emphasis on the functions used. The student can add a final section where suggestions to improve the laboratory sessions can be done. Progress Will add extra points if total is less than 10. Here, improvements applied will be considered. Including an end-effector to the robot manipulator. 16 No Written tests for continuos evaluation. Quiz/exercices to be solved. It will be evaluated the correctness of the solution and the clarity of the explanation. 50 Sí
10% Exercise resolution 50% Labs (as specified in the Activitats d'avaluació table) 40% Written test All qualifiable parts need at least a qualification >= 5.0/10 Criteris específics de la nota «No Presentat»:If the student does not take the exam or does not complete the evaluable labs, he/she will be considered as not been presented and will be evaluated with this grade. Avaluació única:The same evaluation activities will be carried out but it will be facilitated that those activities that require a compulsory presence in the laboratory can be done either in person at agreed times, or remotely using robot simulators. Deadlines will also be adjusted so that a single delivery of all activities can be made. Requisits mínims per aprovar:To be considered to have passed the course, a minimum grade of 5.0 must be obtained
To arrange a tutorial, the student or group of students should send an email to the teacher of the course. If possible, the tutorial will be resolved by email, otherwise Google Meet will be used.
All the information and activities of the subject will be done through Moodle. Google Meet will be used for non-contact sessions. All teacher notifications to students will be made by internal Moodle messaging system or email. Students will also need to use Moodle or email to contact the teacher.
The VAL3 programming language for Stäubli industrial robots and its environment will be used. Exercises will also be done with Python and ROS among others. The students will use an industrial robot for the practices. It will be necessary to work with the proposed programming environment inside the laboratory, in the agreed schedule, and also from outside.