As part of the "Laboratory practice" may include aspects such as attendance, attitude, etc., to help obtain the approved. In addition, it may also include in this methodology the assessment of the presentation in class of personal work.

For the second opportunity, there will be second deadline for assignments.

The evaluation criteria of the early December call will be the same as those of the second opportunity of the previous year.

Students with recognition of part-time dedication and academic waiver of attendance exemption, second establishes the "NORMA QUE REGULA O RÉXIME DE DEDICACIÓN AO ESTUDO DOS ESTUDANTES DE GRAO NA UDC (Arts. 2.3; 3.b e 4.5) (29/5/212)", will be evaluated in the same way, allowing one more week of margin in the assignments.

The fraudulent completion of tests or assessment activities, once verified, will directly imply that the student will be qualified with "suspension" (numerical grade 0) in the corresponding call for the academic year, whether the offense is committed at the first opportunity as in the second For this, your qualification will be modified in the first opportunity report, if necessary.

In case the student commits an infraction in the subject (according to the Student Disciplinary Regulations): the student will be graded with a "fail" (numerical grade 0) in the corresponding exam session, whether the infraction is committed at the first or second opportunity. For this, the student's grade will be modified in the first opportunity report, if necessary.

Learning outcomes	Study programme competences
Know what an industrial robot is and identify its main applications	A26 A28 A32	B5 B6
Know the problem of modeling and kinematic control in robots	A9 A31 A33 A34	B5
Know the problem of modeling and dynamic control in robots	A26 A28 A32 A34	B1 B4 B6
Know the robot programming methods	A26 A32 A34	B1 B5 B6
Know the criteria for implementing an industrial robot	A33 A34	B6	C3

Topic	Sub-topic
Morphology: mechanical structures, sensory and actuation subsystems, tools and fixtures.	Morphology: Mechanical structure, transmissions and reducers, actuators, sensors, control system and final effector.
Direct and inverse geometric and kinematic model.	Direct kinematic problem. Denavit - Hartember method. Inverse kinematic problem. Methods. Jacobian concept.
Kinematic control and trajectory generation.	Kinematic control functions. Types of trajectories. Generation of trajectories. Interpolation.
Modeling and dynamic control. Servo control strategies.	Monoarticular control. Multi-joint control. adaptive check.
Control of force and accommodation. Integration with external sensors.	Types of external sensors in industrial robotics.
Robot programming.	Robot programming methods. ABB's RAPID language. Simulation and programming with RobotStudio.
Selection and implementation of industrial robots. Safety of robotic installations.	Design and control of a robotic cell. Criteria for selecting a robot and economic justification. Safety in robotic installations.

Methodologies / tests	Competencies	Ordinary class hours	Student’s personal work hours	Total hours
Guest lecture / keynote speech	A26 A32 A33 A34 B1 B4 B5 B6 C3	9	15	24
Problem solving	A9 A28 A31 A32 A33 A34 B1 B4	6	15	21
Laboratory practice	A26 A28 A31 A32 A33 B1 B4 B5 B6	24	35	59
Supervised projects	A31 A32 B1 B4	8	0	8

Personalized attention		1	0	1

(*)The information in the planning table is for guidance only and does not take into account the heterogeneity of the students.

Methodologies	Description
Guest lecture / keynote speech	Keynote speech complemented with the use of audiovisual media and the introduction of some questions to students, in order to transmit knowledge and facilitate learning. The order of the topics covered will not have to be the one described in the teaching guide. In addition, there will be topics that can be seen together on the development of others, and the division between them may not be strict.
Problem solving	Solving exercises and specific problems in the classroom, from the knowledge explained.
Laboratory practice	Performing laboratory practice as far as possible; or, failing that, solving exercises and specific problems in the classroom, from the knowledge explained.
Supervised projects	An individual work was carried out, along with the correction of the work of other colleagues. In addition, this work will have to be presented in class.

Methodologies	Competencies	Description	Qualification
Laboratory practice	A26 A28 A31 A32 A33 B1 B4 B5 B6	Some tasks established in the subject, within the framework of this methodology	30
Problem solving	A9 A28 A31 A32 A33 A34 B1 B4	Realization of works, exercises and problems	20
Supervised projects	A31 A32 B1 B4	Realization of a practical application developed by the robot, which can be combined with the vision system and other laboratory equipment.	50

Assessment comments
As part of the "Laboratory practice" may include aspects such as attendance, attitude, etc., to help obtain the approved. In addition, it may also include in this methodology the assessment of the presentation in class of personal work. For the second opportunity, there will be second deadline for assignments. The evaluation criteria of the early December call will be the same as those of the second opportunity of the previous year. Students with recognition of part-time dedication and academic waiver of attendance exemption, second establishes the "NORMA QUE REGULA O RÉXIME DE DEDICACIÓN AO ESTUDO DOS ESTUDANTES DE GRAO NA UDC (Arts. 2.3; 3.b e 4.5) (29/5/212)", will be evaluated in the same way, allowing one more week of margin in the assignments. The fraudulent completion of tests or assessment activities, once verified, will directly imply that the student will be qualified with "suspension" (numerical grade 0) in the corresponding call for the academic year, whether the offense is committed at the first opportunity as in the second For this, your qualification will be modified in the first opportunity report, if necessary. In case the student commits an infraction in the subject (according to the Student Disciplinary Regulations): the student will be graded with a "fail" (numerical grade 0) in the corresponding exam session, whether the infraction is committed at the first or second opportunity. For this, the student's grade will be modified in the first opportunity report, if necessary.

Basic	Barrientos Cruz, Antonio; Peñín Honrubia, Luis Felipe (2007). Fundamentos de Robótica. Mc Graw-Hill Ollero Baturone, A (2001). Manipuladores y Robots móviles. Marcombo John J, Craig (2006). Robótica.. Pearson Prentice Hall Peter Corke (2011). Robotics, Vision and Control. Robotics, Vision and Control Torres, F y otros (2002). Robots y Sistemas Sensoriales. Prentice Hall

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