In this subject, an introduction to industrial robotics is given, both from the theoretical and practical aspects, with special emphasis on manipulator robots.

Thus, topics on modeling and simulation, control and programming of industrial robots are covered.

The main objective of the subject is to provide the student with the ability and knowledge to use industrial robots in their future professional performance.

The overall purpose of the Robotics subject is to introduce broad concepts and

General aspects related to the mechanical structure, modeling, programming, movement generation, robot control and the operation of robotic systems, as well as their application in the industrial environment.

Topic 1: Introduction to robotics

1.1 Origin and development of robotics

1.2 Definition of industrial robot

1.3 Robot classifications

1.4 Applications



Topic 2: Robot morphology

2.1 Introduction

2.2 Mechanical structure of a robot

2.3 Transmissions and reducers

2.4 Actuators (pneumatic, hydraulic, electric)

2.5 Basic sensors (internal: position, speed, presence)

2.6 Terminal elements



Topic 3: Spatial location

3.1 Introduction

3.2 Position representation

3.3 Cartesian reference system. Cartesian coordinates, polar and cylindrical coordinates and spherical coordinates

3.4 Orientation representation (rotation matrices, Euler angles, rotation torques)

3.5 Homogeneous transformation matrices

3.6 Relationship and comparison between the different spatial location methods



Topic 4: Robot kinematics

4.1 Introduction

4.2 Direct kinematics of the robot

4.3 Inverse kinematics of the robot

4.3 Differential model: Direct and inverse Jacobian



Topic 5: Robot dynamics

5.1 Dynamic model of the mechanical structure of a rigid robot

5.2 Lagrange-Euler formulation

5.3 Newton-Euler formulation

5.4 Dynamic model of the actuators



Topic 6: Kinematic control

6.1 General diagram of the kinematic control system

6.2 Software and hardware architecture of the control system

6.3 Types of trajectories

6.4 Generation of trajectories.



Topic 7: Dynamic control

7.1 Nonoarticular control

7.2 Multi-joint control

7.3 Adaptive control

7.4 Practical aspects of the implementation of the regulator

1.906 / 5.000

In this subject, various teaching methodologies are used, the most used being problem solving. Autonomous work will be promoted through the use of computer and bibliographic resources that help students understand the different aspects of the subject.



Classes will be given to present the conceptual content of the subject using both transparencies and explanations on the blackboard. In these classes, students will have copies of the transparencies, as well as the notes provided by the teacher. These materials and texts are accessible to the student through the eGela platform http://egela.ehu.es.



The resolution of issues and problems in the classroom will be carried out in a participatory manner. Problems and exercises will be provided that will be developed individually or in groups, which will allow deepening the theoretical knowledge of the subject and relating Robotics with other related areas. The formulation of questions and open discussion will be encouraged, so that students acquire skills related to oral communication, the ability to synthesize and teamwork.



Several laboratory practices will be carried out on subject content throughout the course using the UR3 collaborative robot and the Matlab program.

In the laboratory practices, experimental work will be developed to acquire knowledge and skills of experimental techniques used in the area of Robotics, reflecting the advances in the laboratory reports.



To facilitate and ensure student learning, both the problems proposed in the classroom and the laboratory practices will be monitored to obtain feedback on the development of the subject, so that students have the opportunity to become aware of their learning, as well as ways to improve it.

• Final Assessment System
• Tools and qualification percentages:
  • Written test to be taken (%): 70
  • Realization of Practical Work (exercises, cases or problems) (%): 10
  • Team projects (problem solving, project design)) (%): 20

The final grade will be obtained by calculating the average grade of the grades of the practices and work carried out in the development of the subject (10%), of the project presented in the subject (20%) and of the written test (70%). However, it is necessary to obtain a minimum grade of 5 out of 10 in the work carried out, in the project presented and in the written test in order to pass the evaluation of the subject. If the minimum grade of 5 out of 10 is not exceeded in all the tests evaluated, the final grade will not be the average, but will be the lowest grade obtained.



Procedure for waiving evaluation calls:



To waive the evaluation call, it will be enough to not appear for the final exam. Failure to appear for said test will result in renunciation of the evaluation call and will be recorded as a Not Presented.



Additionally, students may present their resignation from the evaluation call by writing to the teacher who teaches the subject within a period of no less than ten days before the start date of the official exam period.

The final grade will be obtained by calculating the average grade of the grades of the practices and work carried out in the development of the subject (10%), of the project presented in the subject (20%) and of the written test (70%). However, it is necessary to obtain a minimum grade of 5 out of 10 in the work carried out, in the project presented and in the written test in order to pass the evaluation of the subject. If the minimum grade of 5 out of 10 is not exceeded in all the tests evaluated, the final grade will not be the average, but will be the lowest grade obtained.



Students who fail the practices in the ordinary call (and therefore the subject) must submit all the practical work before the exam date for the extraordinary call and must also take a practice exam in this extraordinary call. As a general rule, the grade of the written test from the ordinary call will not be kept, so this test must be taken again in the extraordinary call.



Procedure for waiving evaluation calls:



To waive the evaluation call, it will be enough to not appear for the final exam. Failure to appear for said test will result in renunciation of the evaluation call and will be recorded as a Not Presented.



Additionally, students may present their resignation from the evaluation call by writing to the teacher who teaches the subject within a period of no less than ten days before the start date of the official exam period.

Transparencies and notes provided by the teacher.

Basic bibliography

-Fundamentos de Robótica, Barrientos y cols., Ed. McGraw Hill,1997

-Robótica Industrial, G. Ferraté y cols., Ed. Marcombo, 1986

-Robotica: Manipuladores y Robots Móviles. A. Ollero. Ed. Marcombo

-Craig, J.J., 1989, Introduction to robotics, mechanics and control (2nd Ed.). Addison-Wesley, Reading, MA

-Control de Manipuladores Robóticos. Oscar Barambones. Apuntes del profesor.

In-depth bibliography

-Robótica: Control, Detección, Visión e Inteligencia. Fu González Lee. Ed. McGraw-Hill, 1988.
-Introduction To Robotics. Phillip John McKerrow. Ed. Addison-Wesley, 1993.
-Spong, M.W. and Vidyasagar, M., 1989, Robot dynamics and control. John Wiley, New York
-Etxebarria v., 1999, Sistemas de control no lineal y robótica., Servicio Editorial de la UPV/EHU. Bilbao

Journals

-Cambridge Journals Online - Robotica
-Automatica.
-International Journal of Humanoid Robotics
-Robotics & Automation Magazine, IEEE
-Robotics and Autonomous Systems - Elsevier
-Journal of Robotics and Mechatronics
-The International Journal of Robotics Research
-International Journal of Control
- IEEE Transactions on Robotics

Web addresses

http://www.roboticaeducativa.com
http://www.webdearde.com
http://www.infoplc.net/Enlace/Enlaces_ROBOTICA.htm
http://www.cea-ifac.es/wwwgrupos/robotica/index.html