42039 - Industrial Robotics (RI) [URV]

Type: S3 Course
Semester: Fall
ECTS: 6
Teaching Points:
Offer: Annual
Responsible Unit: URV
Responsible: Carlos García-Barroso
Language: English
Requirements:

GOALS

This course aims at both introducing the basic concepts of Robotics and giving an insight into advanced subjects related to motion planning: coarse motion planning, fine motion planning and visual servoing. The theoretical knowledge will be complemented with practical work with industrial robots.

CONTENTS

1. Introduction and basic concepts

Classification of robots. Architecture of robotic cells. Robot programming. Coordinate systems. Direct and inverse kinematics. Programming languages for industrial robots. RAPL language. Sensors and actuators.

2. Coarse motion planning

Introduction. Configuration space. Roadmaps. Visibility graphs. Voronoi diagrams. Cell decomposition. Potential fields. Landmark-based navigation. Extensions to the basic problem: mobile obstacles, multiple robots, articulated robots, kinematic constraints, uncertainty handling.

3. Fine motion planning

Mechanical alignment. Passive compliance. Remote compliance centre. Active compliance. Elastic and damped motion. Compliance matrix. Approximation motion. Contact motion. Examples of fine motion planning.

4. Visual servoing

Architectures for visual servoing. Feature-based visual servoing. Image-based visual servoing.