Identifying Data 2019/20
Subject (*) Kinematics and Dynamics of Industrial Robots Code 730497228
Study programme
Mestrado Universitario en Enxeñaría Industrial (plan 2018)
Descriptors Cycle Period Year Type Credits
Official Master's Degree 2nd four-month period
Second Optional 3
Language
Spanish
Teaching method Face-to-face
Prerequisites
Department Enxeñaría Naval e Industrial
Coordinador
Ramil Rego, Alberto
E-mail
alberto.ramil@udc.es
Lecturers
Ramil Rego, Alberto
E-mail
alberto.ramil@udc.es
Web
General description Adquirir os coñecementos básicos que permiten a análise cinemática e dinámica de manipuladores robóticos. Desenvolver aplicacións utilizando ferramentas informáticas

Study programme competencies
Code Study programme competences
B1 CB6 - Possess and understand knowledge that provides a basis or opportunity to be original in the development and / or application of ideas, often in a research context.
B2 CB7 - That students know how to apply the knowledge acquired and their ability to solve problems in new or unfamiliar environments within broader (or multidisciplinary) contexts related to their area of ??study.
B6 G1 - Have adequate knowledge of the scientific and technological aspects in Industrial Engineering.
B13 G8 - Apply the knowledge acquired and solve problems in new or unfamiliar environments within broader and multidisciplinary contexts.
C1 ABET (a) - An ability to apply knowledge of mathematics, science, and engineering.
C3 ABET (c) - An ability to design a system, component, or process to meet desired needs within realistic constraints such as economic, environmental, social, political, ethical, health and safety, manufacturability, and sustainability.
C8 ABET (h) - The broad education necessary to understand the impact of engineering solutions in a global, economic, environmental, and societal context.
C11 ABET (k) - An ability to use the techniques, skills, and modern engineering tools necessary for engineering practice.

Learning aims
Learning outcomes Study programme competences
Acquire the basic knowledge that allows a kinematics and dynamics of robotic manipulators. BJ1
BJ2
BJ6
BJ13
CJ1
CJ11
Develop applications using computer tools. BJ2
BJ13
CJ3
CJ8
CJ11

Contents
Topic Sub-topic
1. Introduction 1.1 Introduction
1.2 Classification of manipulators
1.3 Rotation matrices. Representation by means of axis-angle; Angles (Roll-Pitch-YaW); Euler angles and quaternions.
1.4 Homogeneous transformations.
1.5 Composition of transformations
2. Direct Kinematics 2.1 Direct Kinematics.
2.2 Denavit-Hartenberg Convention.
2.3 Obtaining transformation matrices.
2.4 Speeds and rotations.
2.5 Jacobian of the manipulator.
2.6 Singularities.
3. Manipulator Dynamics 3.1 Dynamics of the manipulator.
3.2 Newton-Euler and Euler-Lagrange equations.
3.3 Movement control.
4. Reverse Kinematics. 4.1 Reverse Kinematics.
4.2 Ambiguities.
4.3 Application to an arm with 6 DOF.

Planning
Methodologies / tests Competencies Ordinary class hours Student’s personal work hours Total hours
Guest lecture / keynote speech B6 C1 C8 C11 8 16 24
Problem solving B13 B6 C11 C1 4 14 18
ICT practicals B1 B2 B13 C3 C11 6 24 30
Mixed objective/subjective test B6 C11 C1 3 0 3
 
Personalized attention 0 0 0
 
(*)The information in the planning table is for guidance only and does not take into account the heterogeneity of the students.

Methodologies
Methodologies Description
Guest lecture / keynote speech Oral presentation complemented with the use of audiovisual media to develop the program of the subject and make explanations and examples that allow the understanding of the principles of the subject to be able to apply them to practical examples.
Problem solving Resolution of problems corresponding to the different subjects of the program in order to understand the theoretical principles and know their practical application, comparing different methods highlighting the advantages of each.
ICT practicals Application of various computer applications to facilitate calculations in solving problems and illustrate the results with simulations of movements of different manipulators.
Mixed objective/subjective test It is a written test consisting of 2 parts (theory and problems) of approximately 1 and 2 hours, with a maximum total duration of 3 hours. The theory test will have 5 to 10 questions of diverse amplitude and degree of concretion on the contents of the program. The practical type test will consist of the resolution of 1 to 10 problems of varying complexity on the contents of the program.

Personalized attention
Methodologies
Guest lecture / keynote speech
Problem solving
ICT practicals
Mixed objective/subjective test
Description
It is recommended that all students attend tutorials to clarify issues related to the session as well as the solution of problems and practices.

Assessment
Methodologies Competencies Description Qualification
Problem solving B13 B6 C11 C1 Orally and/or written presentation of problems proposed. 20
ICT practicals B1 B2 B13 C3 C11 Orally and/or written presentation of problems and simulations made with the computer. 10
Mixed objective/subjective test B6 C11 C1 The mixed test consists of two parts: theory and problems.
In the theory part the knowledge of the contents of the subject is valued as well as the reasoned exposition of the theoretical developments.
In the part of problems will be assessed both the approach and the development applied to the specific case to obtain the solution.

The dates of these tests will be those that appear in the exam calendar and course planning published by the center.
70
 
Assessment comments

Only students who do not participate in mixed tests will be rated as NOT PRESENTED.

Academic dispensation in this matter is not admitted.

The evaluation criteria of the 2nd opportunity are the same as those of the 1st opportunity.


Sources of information
Basic Carl D. Crane III and Joseph Duffy (1998). Kinematic analysis of robot manipulators. Cambridge University Press
Mark W. Spong, M. Vidyasagar (1989). Robot dynamics and control. John Wiley & Sons. New York

Complementary Tadej Bajd, Matjaz Mihelj, Marko Munih (2013). Introduction to robotics. Dordrecht: Springer
Craig, John J. (2005). Introduction to robotics: mechanics and control. Pearson Educacion Internacional
Asada, Haruhiko; Slotine, Jean-Jacques E. (1986). Robot analysis and control. New York: John Wiley and sons
Thomas R. Kurfess (2004). Robotics and Automation Handbook 1st Edition. CRC Press
Siciliano, Bruno; Khatib, Oussama (2008). Springer handbook of robotics. Berlin: Springer


Recommendations
Subjects that it is recommended to have taken before
Biomechanics/730497227

Subjects that are recommended to be taken simultaneously

Subjects that continue the syllabus

Other comments

It must make a sustainable use of resources and the prevention of negative impacts on the natural environment.



(*)The teaching guide is the document in which the URV publishes the information about all its courses. It is a public document and cannot be modified. Only in exceptional cases can it be revised by the competent agent or duly revised so that it is in line with current legislation.