This course is an introduction to the fundamentals of robotics for biomedical students. It will supply training in kinematic modelling, dynamics, digital control aspects, systems for control of robotised equipment as well as on communication networks, protocols used in the various subsystems and on local and remote programming. All these aspects are complemented with practical classes.
The course also trains students on the advanced systems used in medical robotics. A rather detailed approach to bionics is attempted, taking in consideration issues about the materials and bio-compatibility.
At the end of the course, students should be able to model and analyse robotic systems, interpret their equations of motion, study their control mechanisms, and understand the network, programming, security, contact control, etc. aspects involved in these systems. Bionics is explored as an application of mechanics and electronics to medicine.
Fundamentals of Robotics
Modern robotics: manipulator robots
Mechanics of manipulator robots: position and orientation; direct and inverse kinematics; static forces and speeds; singularities; dynamics; Matlab modelling of a manipulators's kinematics and dynamics
Manipulator robots' control: trajectories; digital control - synthesis, syntony and analysis of PID controllers; structures; sensors
Manipulator robots' programming: languages; off-line and on-line programming; remote access - monitoring and supervision
Fundamentals of Bionics
Human-machine interface systems
Use of robotic mechanisms to extend human capabilities. Kinematics/dynamics modelling of a three-finger hand
Communication and protocols: security. Telemanipulation
Integration with other biomedical cell elements
Review of advanced robotic systems: force control, vision, applications in clean/laboratorial environments, automated guided vehicles
Generic skills to reach
. Competence in analysis and synthesis; . Competence in organization and planning; . Competence to solve problems; . Competence in autonomous learning; . Competence in applying theoretical knowledge in practice; . Creativity; . Initiative and entrepreneurial spirit; . Quality concerns; . Research skills; (by decreasing order of importance)
Teaching hours per semester
total of teaching hours
Laboratory or field work
Bibliography of reference
Introduction to Robotics: Mechanics and Control Intrudução à Robótica. Teoria e principios fisicos e matemáticos de robótica industrial. Algoritmos de controlo.
JJ Craig, Addison-Wesley, Reading, Mass., 1989
Modeling and Control of Robot Manipulators Intrudução à modelação e controlo de robôs Manipuladores
Robotics, Control, Sensing, Vision and Intelligence Principios de robótica, controlo, sensores, visão e inteligencia. Fu, Gonzalez e Lee
Industrial Robots Programming, Building Applications for the Factories of the Future, J. Norberto Pires, Springer 2006
The syllabus is presented in a very detailed form during the theoretical classes and the students are motivated to complement it through self-study.
There are two kinds of practical classes: in one the students analyse and solve problems and in the other, lab based, the students try to solve real world problems on remote applications' programming, robotics, sensorial integration, etc. All the examples used come from the biomedical area, either for research, diagnostic support, etc. A significant portion of the final grade is obtained undertaking and completing a project.
Laboratório com equipamento específico (robôs manipuladores, SCARA, redundantes, e equipamento acessório), e incluindo ainda computadores, mãos robóticas inteligentes, componentes electrónicos e eléctricos, sensores, etc.