Robotized Systems
Introduction
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Professors
Leopoldo Armesto (IDF) - larmesto@idf.upv.es
Ranko Zotovic (DISA) - rzotovic@isa.upv.es
Carlos Ricolfe Viala (ai2) – cricolfe@upv.es
CONSULTATIONS ON REQUEST BY E-MAIL OR TEAMS (NOT
ALWAYS AVAILABLE)
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Situation
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Aims
Introduction to the robotized systems, from a general perspective, from the basic
concepts to the avanced ones.
Methods for the representation of the position and the orientation.
Identification of the elements of a robotized system, flexible fabrication cells and the
programming of industrial robots.
Kinematic Modelling: direct and inverse kinematics of a robotic arm.
Control of a robotic arm: trajectory generation, control of joints velocity kinematics
based control.
Advanced Robot Control: Dynamic control, control with visual feedback,
reinforcement learning, motion planning, etc…
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Content
Basic Principles
Elements of a robot
Geometry in 3D space
Robots programming
Control of a joint
Direct kinematics
Inverse kinematics
Trayectory Generation
Velocity kinematics
Kinematic control
Advanced control techniques
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Previous Knowledge
Maths:
Algebra (matrices), spatial geometry, trigonometry, etc…
Programming:
Basic Matlab and general programming skills, industrial informatics.
Automation and Electronics:
Basic knowledge of automation systems, control and electronic systems and
electronic instrumentation..
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Lab sessions
Robot Studio
Introduction to Robot Studio and trayectories programming
Interchange of tools
Matlab/Simulink
Control of a single joint
Space geometry (Rotation y Translation)
Direct and Inverse kinetics (Velocities kinetics)
Trajectories generation and y kinetics Control.
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Lab sessions
PL3 – Monday 15:00h – 18:00h (SIMULATION 2, DISA, 5C, 2nd floor/ TABARCA, ESTID, 7E, 3rd floor)
PL1 – Tuesday 17:30h – 20:30h (SIMULATION 2, DISA, 5C, 2nd floor/ TABARCA, ESTID, 7E, 3rd floor)
PL2 – Wednesday 17:00h – 20:00h (SIMULATION 2, DISA, 5C, 2nd floor/ TABARCA, ESTID, 7E, 3rd floor)
PL5 – Thursday 9:30h – 12:30h (SIMULATION 2, DISA, 5C, 2nd floor/ TABARCA, ESTID, 7E, 3rd floor)
PL6 – Thursday 17:00h – 20:00h (SIMULATION 2, DISA, 5C, 2nd floor/ CONTROL 1, DISA, 5C, 2nd floor)
PL4 – Friday 18:15h – 21:15h (SIMULATION 2, DISA, 5C, 2nd floor/ TABARCA, ESTID, 7E, 3rd floor)
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Lab sessions
PL3 (243) PL1 (241-ARA) PL2 (242) PL5 (245) PL6 (R) PL4 (244)
Prac. 1 07/11 08/11 09/11 10/11 10/11 11/11
SIM 2 SIM 2 SIM 2 SIM 2 SIM 2 SIM 2
Prac. 2 14/11 15/11 16/11 17/11 17/11 18/11
TABARCA TABARCA TABARCA TABARCA Control I TABARCA
Prac. 3 21/11 22/11 23/11 24/11 24/11 25/11
SIM 2 SIM 2 SIM 2 SIM 2 SIM 2 SIM 2
Prac. 4 28/11 29/11 30/11 01/12 01/12 02/12
SIM 2 SIM 2 SIM 2 SIM 2 SIM 2 SIM 2
Prac. 5 05/12 13/12 07/12 15/12 15/12 09/12
SIM 2 SIM 2 SIM 2 SIM 2 SIM 2 SIM 2
Prac. 6 12/12 20/12 14/12 22/12 22/12 16/12
SIM 2 SIM 2 SIM 2 SIM 2 SIM 2 SIM 2
Recuper. 09/01 10/01 11/01 12/01 12/01 13/01
SIM 2 SIM 2 SIM 2 SIM 2 SIM 2 SIM 2
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Engineering Tools
Matlab:
Vector and matrix calculus.
CoppeliaSim (V-REP):
Robot simulations.
Robot Studio:
Robot programming
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Evaluation
ContinIuous evaluation
Partial Exam (PE): Geometry and Kinetics
Exam test (ET): Control, programming and calibration
Evaluation of the achievements in every lab session (LS).
Final Project (FP)
FINAL_GRADE = PE*0.3 + ET*0.3 + FP*0.3 + LS*0.1
Repeaters:
The grade of the lab sessions Will be convalidated.
The grade of the Project Will be convalidated.
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YouTube Channel
https://www.youtube.com/c/LeopoldoArmesto
Listas de reproduction:
https://www.youtube.com/playlist?list=PLjzuoBhdtaXMrzJtuu75QhykTTuA2o-Ns
https://www.youtube.com/playlist?list=PLjzuoBhdtaXOyB5ufadoxEfdsLfAFbSjd
https://www.youtube.com/playlist?list=PLjzuoBhdtaXOYfcZOPS98uDTf4aAoDSR
R
https://www.youtube.com/playlist?list=PLjzuoBhdtaXOoqkJUqhYQletLLnJP8vjZ
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Bibliography
Fundamentos de robótica (Antonio Barrientos, Luis Felipe Peñin, Carlos Balaguer, Rafael Aracil)
Robots y systems sensoriales (Fernando Torres, Jorge Pomares, Pablo Gil, Santiago Puente, R. Aracil)
Robótica (Martín Mellado Arteche)
Robótica industrial : Tecnología, programation y aplicaciones (Mikell P. Groove)
Robotics (Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Guiseppe Oriolo)
John Craig, “Introduction to robotics,” Addison Wesley.
G. Dudek and M. Jenkin, “Computational Principles of Mobile Robotics,” Cambridge University Press.
Robotics : control, sensing, vision and intelligence (Fu, King Sun)
Robotic engineering : An integrated approach (Klafter, Richard D)
Modeling and control of robot manipulators (Sciavicco, Lorenzo)
Fundamentals of robotics : Analysis and control (Schilling, Robert J.)
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Robotized Systems
Introduction
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