101412 - ROBOTICS

Subject type: Mandatory

Coordinator: Julián Horrillo Tello

Trimester: First term

Credits: 6

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
application.
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.

LO2. Know the basics in industrial communications (CE28)

LO3. It is able to use and design automatic systems based on electromechanical, oleohydraulic, pneumatic and robotic devices. (CE27)

LO4. Design automation systems based on industrial robots. (CE26, CE27, CE29)

Know what robots are, how they are formed and what they are used for
Know the control architecture of robots. Relationship between functional specifications and control requirements.
Implications for hardware
Know how to determine the requirements on sensory, mechanical and motor system of the functional specifications. I
know how to apply selection criteria for these elements.

List different formats of representations of position and orientation in manipulating robots.
Calculate transformations between reference systems in direct and inverse sense.
Use standard software (Matlab) to perform these calculations.

Know the Denavit-Hartember Parameters associated with a particular type of manipulator
Write the Jacobian velocity matrix associated with a given type of manipulator

Obtaining torques and static forces applied to each joint in a given manipulator
Obtaining joint trajectories corresponding to a simplified dynamic model.
Use standard software (Matlab) to perform these calculations

Understand the importance of the generation of trajectories and their conditions
Know how to solve the problem of the generation of articular trajectories by manipulating robots
Know the different types of robot programming and their usefulness
Know the programming language of RAPID robots and how to structure a program for the realization of
tasks with robots

Know the possibilities of the application of robots in industrial tasks and when it is useful to use them
Know how to solve industrial automation problems that require robots
Know how to assess the needs of integration of automatic machines and operational safety when intervening
robots and know the methodology to follow to cover these needs

The subject uses the expository methodology (theory classes) in 25%, the discussion of cases in large group in a
2%, individual teacher-led work in 5%, laboratory work in 8% (simulation and real environment), and the
individual non-contact work in 60%.

- 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.

FIRST PART LABORATORY PRACTICES (CB2)

The practices are related to the theoretical contents of the subject, and have as purpose
complement and reinforce the concepts and skills acquired in the theoretical part.

Practices of Topics 2 and 3
Exercises with Matlab on coordinate transformations, and direct and inverse kinematics, and obtaining
articular trajectories

PART TWO LABORATORY PRACTICES (CB2, CE28; RA2)

The purpose of the practices is to know and be able to use a simulation environment for robots, as well as one
concrete industrial robot

Practices of Topics 1 and 4
Exercises for representing robotic stations and simulating the movement of robots with the environment of
Robot Studio simulation and the ABB IRB Robot robot model 1

THIRD PART LABORATORY PRACTICES (CB2, CE28; RA2)

The internships have three purposes:
· Know how to program an industrial robot to perform a given task and evaluate, by simulation, that the
programming allows the robot to perform the specified task satisfactorily.
· Know how to move from the simulation environment to the real world, using the physical tools of programming and manual control
of the robot and program transfer and loading utilities
· Know how to verify and adjust the programming of a task, performed in the programming and simulation environment, on the
robot and the real work cell

Practices of the Subject 5
Exercises for representing robotic stations and simulating the movement of robots with the environment of
Robot Studio simulation and the ABB IRB Robot robot model 120

FIRST EXAMINATION OF THE SUBJECT (CE27; RA3, RA4)

Description: Written test of the contents developed in topics 2 and 3

Description of the expected delivery and links with the evaluation: Resolution of the test
The grade of the test represents 30% of the final grade
 

SECOND EXAMINATION OF THE SUBJECT (CB2, CE27; RA3, RA4)

Description: Written test of the contents developed in topics 1,4, and 5

Description of the expected delivery and links with the evaluation: Resolution of the test
The grade of the test represents 30% of the final grade

EXERCISES and WORKS 

Exercises and proposed works on the topics developed in theory. Their grade represents 10% of the final grade.

The final grade will be the weighted average of the grades of the assessable activities. 
Set of all Practices 30%
Part One Theory: 35%
Part Two Theory: 35%

The average of these three parts will only be done as long as each of them exceeds the score of 3,5 points out of 10. Otherwise the grade of the subject will be the grade of the lowest part.

The first exam will be held during the course on the day previously set and the second will be held on the date scheduled for
the examination of the subject once the class period has ended. Each of these exams has a specific syllabus
associated.
The evaluation of each part of the practices demands the direct participation of the student.
 

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,