|
Teaching GuideTerm 2023/24 Escola Politécnica de Enxeñaría de Ferrol |
| Grao en Enxeñaría Electrónica Industrial e Automática |
 Subjects |
| Industrial Robotics |
| Contents |
|
|
|
| Identifying Data | 2023/24 | |||||||||||||
| Subject | Industrial Robotics | Code | 770G01041 | |||||||||||
| Study programme |
|
|||||||||||||
| Descriptors | Cycle | Period | Year | Type | Credits | |||||||||
| Graduate | 2nd four-month period |
Third | Optional | 6 | ||||||||||
|
||||||||||||||
| 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. |
|
