General information

Subject type: Mandatory

Coordinator: Joan Triadó Aymerich

Trimester: First term

Credits: 6

Teaching staff: 

Josep López Xarbau
Joan Triadó Aymerich 

Teaching languages

  • Catalan

The software used as well as the manuals of the equipment used can be in English.


Specific skills
  • CE27: Understand the principles and applications of robotic systems.

  • CE28: Apply industrial computing and communications.


To provide students with the basic knowledge of robot control and its application in industrial production, of
so that they acquire sufficient knowledge of how they are programmed and used and of the possibilities of theirs
This includes knowledge of the basic principles of design and control of robots and their programming to use them in
industrial and other applications.

“This subject has methodological and digital resources to make possible its continuity in non-contact mode in the case of being necessary for reasons related to the Covid-19. In this way, the achievement of the same knowledge and skills that are specified in this teaching plan will be ensured.

The Tecnocampus will make available to teachers and students the digital tools needed to carry out the course, as well as guides and recommendations that facilitate adaptation to the non-contact mode.


- Topic 1: Introduction, Morphology, Architectures, Sensors

Introduction to robots: What are they ?. What are they used for? What do they consist of? Importance of mechanical structure.
Robot control: Robot control architecture. Control requirements based on specifications
functional. Hardware implications of the requirements. Practical choice of hardware and software architecture. Which one
robot in cal?
Requirements for sensor, mechanics and motor system based on functional specifications. Criteria
sensor selection. Mechanics selection criteria. Motor system selection criteria

- Topic 2: Mathematical models

Position and Orientation in the plane and in space. Coordinate reference systems. Craig's notation.
Transformation of coordinate systems: translation, rotation and rotation + translation. Examples with Matlab.
Format of homogeneous transformations (4x4 matrices). Arithmetic of transformations: composition of
transformations, inverse transformations. Examples, use of Matlab.
Other representations of orientation. RPY, Euler ZYX, Euler ZYZ, Rotation Pairs and Quaternions.

- Topic 3: Physical models

Kinematic links between joints. Relationships between Joint Reference Systems.
Determination of the final position of a manipulator with the concatenation of transformations.
Example cases. Space of the coordinates of the joints in relation to the Cartesian space. Denavit Settings
Hartenberg. Different types of robot (Puma 570, cylindrical robots) exercises with Matlab
Inverse kinematic problem. Existence of multiple solutions. How to address the problem, restrictions. Study of
particular cases. Resolution by numerical methods.
Linear and angular velocities. Jacobian matrix of the manipulator. Speed ​​propagation through the
joints. Pairs and Static Forces.

- Topic 4: Programming of robots

Generation of trajectories
Objective of robot programming. Types of programming. Programming structures applied to robots.

- Topic 5: Applications

The robot in production. The robot as a flexible machine. Approach to automation involving robots.
The robot tooling. The robot's environment.
Integration of machines and systems in a production set with robots.
The operation with robots and the fulfillment of the norms of hygiene in machines.

Evaluation system

The final grade will be the weighted average of the grades of the assessable activities. 
Set of all Practices 30%
Theory First Part: 30%
Part Two Theory: 30%

Exercises: 10%

Minimum grades to pass: 
 - 3.5 of the exam notes 
 - 3.5 of the practice notes. 

Otherwise, the grade for the subject will be the lowest grade.

Each exam has a recovery exam that will only allow you to recover the corresponding part. Practices are not recovered.




Craig, John J .. Robotics. 2006. Prentice-Hall, 2006. ISBN 9702607728.


ABB Robotics. RobotStudio - Operator's manual version 5.13. ID: 3HAC029364-005 rev.C. ABB Robotics,

Ollero Baturone, Hannibal. ROBOTICS Manipulators and mobile robots. 2001. Barcelona: Marcombo, 2011. ISBN 8426713130.

Corke, Peter. Robotics, Vision and Control: Fundamental Algorithms in MATLAB. 2011. Springer Tracts in Advanced Robotics,
2011. ISBN 3642201431.

ABB Robotics. (IRC5 - RobotWare 5.0). ID: 3HAC029364-005. ABB Robotics,

Barrientos, Antonio. FUNDAMENTALS OF ROBOTICS. 2a. 2007. ISBN 8448156366.

ABB Robotics. Technical reference manual. Overview of RAPID (RobotWare 5.13). ID: 3HAC16580-5. ABB Robotics,

ABB Robotics. Manual application FlexPendant SDK (RobotWare 5.14). ID: 3HAC036958-001, rev.A. ABB Robotics,