Robotics

Year 1:

Course Cad. Graphic expression normalised in robotics – 6 ECTS Credits

Objectives Subject objectives The general objective of the subject is the acquisition of the specific
basic training competence of the degree of: « Have the capacity for spatial vision and
knowledge of graphic representation techniques, which allow the design and
interpretation of plans of mechanical systems and electrical and electronic circuits. Know
and know how to use computer programs for the design and visualization of circuit
diagrams, structures and mechanisms. Learning outcomes - Have the ability to interpret
and create the necessary graphic documentation for the design of robotic mechanical
systems. - Acquire the necessary knowledge for the graphic resolution of geometric
design problems. - Know the graphic representation of machine elements, tolerances and
surface finishes of the manufacturing process. - Parameterized 3D modeling of the
elements of mechanical systems.
Contents The degree report includes the following contents:
- Standardization of Technical Graphic documentation.
- Fundamentals of the representation of the three-dimensional shape, through the
projection systems used in descriptive geometry with the help of CAD programs.
- Graphic calculation with CAD.
- Parameterized three-dimensional modeling of mechanical elements. (Articulated
systems, gears, hydraulic transmissions, etc.).
- Basic simulation of mechanical systems parameterized based on the variation of a shape
parameter.

BLOCK I.- STANDARDIZATION OF REPRESENTATION

1.1. Scales
1.2. The standardization of technical drawing
1.3. Normalization of three-dimensional representation
1.4. Normalization of dimensioning
Practices: Self-assessment test.
In-person time: 6 expository hours. Student work time: 2 hours (Virtual Campus)
BLOCK II - COMPUTER-ASSISTED DRAWING
2.1.- INITIATION, ENVIRONMENT AND UTILITIES
2.2.- BASIC COMMANDS TO START DRAWING
2.3.- PROPERTIES OF THE OBJECTS
2.4.- TEXTS
2.5.- PRESENTATIONS
2.6.- DRAWING COMMANDS
2.7.- MODIFICATION COMMANDS
2.8.- CONSULTATIONS AND DISPLAY CONTROL.
2.9.- DIMENSIONS WITH THE PROGRAM
2.10.- LAYOUT AND PUBLICATION
In-person time: 15 hours of practice. Student work time: 18 hours

BLOCK III-5. DIHEDRIC AND AXONOMETRIC SYSTEM

3.1.1. Basics
3.1.2. Obtaining auxiliary views by changing the plane.
3.1.3. Measurement and obtaining true magnitudes through rotations and deflections
3.1.4. Basic problems of intersections, parallelism and perpendicularity
3.2. Graphic calculation and projective geometry with CAD
 Robotics

3.2.1. Representation of polyhedral shapes. Obtaining normalized views using CAD.

3.2.2. Sections and cuts using CAD
3.2.3. Distances and true magnitude of plane surfaces.
3.2.4. Printing views of a 3D model

In-person time: 15 hours of practice. Student work time: 35 hours

BLOCK IV – PARAMETRIC DESIGN IN 3D

4.1.-Design of 3D solids. Basic shapes. Extrusion and rotation.
4.2.- Editing of solids. Topological operations with solids.
4.3.- Surface design. Basic shapes, extrusion, rotation.
4.4.-Editing surfaces.
4.5.- Design parameterization.
In-person time: 15 hours of practice. Student work time: 35 hours

Course Digital electronics – 6 ECTS Credits

Objectives The main objective of the subject is to provide students with the basic foundations of digital
electronics. The learning outcomes pursued are:
- Ability to analyze and design combinational and sequential, synchronous and asynchronous
circuits.
- Ability to analyze and design digital circuits using integrated circuits.
- Apply digital technologies to solve problems and applications in various engineering fields.
- Correctly plan the global structure of a digital system, as well as the interrelation between
its different elements.
- Handle the necessary design and programming tools that allow the correct development of
a digital system.
- Select simple programmable logic devices.
- Knowledge and application of the fundamentals of hardware description languages.
- Program and simulate the behavior of digital systems using a hardware description
language.
Contents Logical Functions. Boolean algebra. Logic gates. Physical implementation: logical families.
Synthesis of logical functions. Minimization. Combinational blocks. Synchronous and
asynchronous sequential systems. Programmable logic devices. FPGAs. Hardware
description languages oriented to logical synthesis.
Topic 1: Introduction to digital information processing
Topic 2: Logic gates and their physical implementation: logic families
Topic 3: Combinational logic
Topic 4: Hardware description languages oriented to logical synthesis
Topic 6: Sequential logic
Topic 7: RAM and CAM memories
Topic 8: Programmable sequential logic
 Robotics

Year 2:

Course Mechanisms and sensors – 6 ECTS Credits

Objectives Know, understand and apply basic passive sensors (resistive, capacitive, inductive, ...).
Know, understand and apply basic active sensors (thermocouples, piezoelectric,
photovoltaic, ...).
Know, understand and apply basic sensorization in robots (proximity, position, contact).
Know, understand and apply advanced sensorization in robots (inertial sensors, torque
sensors, touch sensors, laser sensors, ...).
Know, understand and apply other sensors such as electrochemicals or biosensors.
Select the most suitable sensors to solve a robotics problem in which it is required to
interact with elements of the environment.
Know the basic principles of the mechanisms of robotic systems.
Know and apply indirect transmission systems: gears, belts, chains, cams, rack transmission
Know and understand indirect transmission systems: brakes, couplings.
Know and understand other mechanisms such as bearings, unions, springs.
Know and understand reducers (HDUC, Cyclo).
Know and understand direct transmision.
Know the different mechanical subsystems and mechanisms that are part of the structure of
a robot.
Understand the functionalities of mechanical mechanisms and subsystems
Contents 1. Operation of electrical measurement systems. (4 attendance hours, 5 non-attendance
hours)
2. Basic sensors: passive and active. (12 attendance hours, 16 non-attendance hours)
3. Basic sensorization in robots. (4 attendance hours, 9 non-attendance hours)
4. Advanced sensorization in robots. (4 attendance hours, 9 non-attendance hours)
5. Other sensors with application in robotics. (3 attendance hours, 4 non-attendance hours)
6. Basic mechanisms of robotic systems. (10 attendance hours, 15 non-attendance hours)
7. Indirect and direct transmission systems. (10 attendance hours, 15 non-attendance hours)
8. Other elements: bearings, unions, springs, springs. (4 attendance hours, 6 non-attendance
hours)
9. Reducers. Direct drive. (3 attendance hours, 6 non-attendance hours)

The previous contents are developed in the following topics:

Topic 1. Introduction to measurement systems. Units. General characteristics of a sensor.
Topic 2. Resistive sensors. Measurement of temperature, light, force. Signal conditioning for
resistive sensors.
Topic 3. Capacitive and inductive sensors. Magnetic sensors.
Topic 4. Signal conditioning for capacitive and inductive sensors.
Topic 5. Use of optical sensors.
Topic 6. Measurement of position, force, torque and acceleration.
Topic 7. Complementary elements of a measurement system
Topic 8. Pairs and kinematic diagrams in mechanisms. Analysis of the position of the
components of a mechanism.
Topic 9. Rotating movement and combined translation and rotation.
Topic 10. Dynamic analysis of mechanisms.
Topic 11. Transmission through gears, belts, bolts
Topic 12. Reducing devices.
Topic 13. Direct transmission and hydraulic and pneumatic systems.
Topic 14. Application mechanisms in robots.
 Robotics

Course Control theory – 6 ECTS Credits

Objectives The objective of the subject is to familiarize the student with all aspects related to the
implementation of a control system. The learning outcomes pursued are:

• Understand the operation of a closed loop control system, and know how to use
computer tools for its modeling and study.
• Know the main types of controllers and their characteristics, and know which one is
most suitable for different applications, especially robotic systems.
• Know different strategies for controller design and know how to apply them.
• Be able to design and implement discrete control systems, based on the characteristics
and specifications of a system.
• Know how to apply analysis tools in the frequency domain to study the behavior of
systems, see their control needs and design controllers for them.
Contents The verified report of the title establishes that the contents of this subject are:
• Feedback control.
• Types and control actions: P, PD, PI, PID.
• Discrete implementation of drivers.
• Control with disturbances.
• Control at minimum tempo.
• Non-domain frequency control.

BLOCK I. CLASSICAL CONTROL TECHNIQUES (14 HP + 8 HP, 20 HNP + 8 HNP)

o Topic 1. Introduction to control engineering
• Definitions and terminology of two control systems.
• Classification of two control systems.
• Examples of control systems
o Topic 2. Design of non-time domain control systems
• Basic structure of a PID controller.
• Experimental tuning methods.
• Compensation techniques based on root location.
o Topic 3. Design of discrete controllers
• Discretization of PID controllers.
• Design of controllers by pole assignment.
• Minimum tempo regulators.
o Topic 4. Design of non-frequency domain control systems
• Frequency domain specification.
• Design of non-domain frequency controllers.
BLOCK II. NON-SPACE CONTROL OF STATES (10 HP + 4 HP, 16 HNP + 4 HNP)
o Topic 5. Non-state space systems model
• Introduction.
• Concept of state.
• Representation of non-state space systems.
o Topic 6. Analysis of systems in state space
• Solution gives equation of state.
• Controllability and observability.
o Topic 7. Design of non-state space control systems
• State feedback control.
 Robotics

Course Software platforms in robotics – 6 ECTS Credits

Objectives The subject aims to give the student a generic vision of conventional embedded systems.
In this way, the main objectives of the subject are:
- Understand the concepts of the architecture of a computer system and in particular of
an embedded system.
- Know methodologies and work tools for embedded systems.
- Know the management and programming of input/output devices. Communication with
peripherals. Interruption management.
- Real-time response.

In this subject the student will acquire knowledge about the general structure of the
hardware of embedded systems and their functionality and applications. You will also
gain knowledge about your efficient programming. Technical oral expression,
organizational and planning skills, and the ability to practically apply theoretical
knowledge will also be exercised.
Contents Robotic operating systems. Multi platform. Robot programming middlewares and
frameworks. Robot simulators. Development and debugging tools. Free Software in
Robotics.

These contents will be structured in the following sequence of topics and practices:

Part 1:
1. Robot programming middlewares and frameworks.
2. Robot Operating System (ROS) and ROS2.
3. ROS: Introduction to its distributed architecture. Use of Topics, publish/subscribe
paradigm or creation of personalized messages. Implementation with Python
4. Paradigm publishes subscribe through different platforms
5. Services in ROS, implementation with Python
6. Actions in ROS, implementation with Python

Part 2:
7. Use of Topics, publish/subscribe paradigm or creation of personalized messages.
Implementation with C++
8. Services in ROS, implementation with C++
9. Actions in ROS, implementation with C++
 Robotics

Course Automation – 6 ECTS Credits

Objectives The aim of the course is to introduce all the necessary concepts to implement automated
systems that can be oriented both to the control of robots and industrial processes. The
learning outcomes pursued are:

- To know the automation needs and the elements that form part of an automation
system.
- Knowing the structure, operation and configuration of programmable logic controllers
(PLC) and the possibilities offered by automation networks.
- Knowing and using different PLC programming languages.
- Knowing and applying hydraulic and pneumatic actuators and knowing how to use them
in robotic environments.
- Knowing and programming basic process visualisation and supervision systems (HMI).
Contents The degree establishes the following contents:
- Introduction to task automation.
- Elements for automation.
- The programmable logic controller or PLC.
- PLC programming.
- Sequential control.
- Implementation of GRAFCET in PLC.
- Hydraulic and pneumatic actuators.
- Process visualisation and supervision systems.

These contents are developed according to the following structure, where an estimate of
the number of classroom hours (CH) and non-classroom hours (NCH) is indicated:

Theoretical content:

1. Levels and components of an automation system. (2 CH + 3 NCH)

2. Structure of a PLC (3 CH + 7 NCH )
3. Basic PLC programming languages (LD, FBD and ST) (5.5 CH + 9 NCH )
4. PLC programming techniques, sequential diagrams (Grafcet-SFC) and GEMMA guide.
(5.5 CH + 9 NCH)
5. Sensors and actuators. (4 CH + 6 NCH)
6. I/O interfaces. (2 CH + 3 NCH)
7. Human-Controller Interfaces (2 CH + 3 NCH)

Interactive sessions:

The interactive sessions will be developed in sessions of 2 hours, adding up to a total of

24 h of classroom attendance and 32 non-classroom hours. Attendance at the practical
sessions is compulsory and is a prerequisite for passing the subject.

The interactive sessions to be carried out will be:

1. Design and assembly of process automation (4 CH + 6 NCH).

2. Programming and simulation of PLCs (6 CH + 8 NCH).
3. Programming and simulation of HMIs (4 CH + 6 NCH).
 Robotics

4. Programming and automatization of sequential processes (8 CH + 12 NCH).

Course Embedded systems – 6 ECTS Credits

Objectives The subject aims to give the student a generic vision of conventional embedded systems.
In this way, the main objectives of the subject are:
- Understand the concepts of the architecture of a computer system and in particular of
an embedded system.
- Know methodologies and work tools for embedded systems.
- Know the management and programming of input/output devices. Communication with
peripherals. Interruption management.
- Real-time response.

In this subject the student will acquire knowledge about the general structure of the
hardware of embedded systems and their functionality and applications. You will also
gain knowledge about your efficient programming. Technical oral expression,
organizational and planning skills, and the ability to practically apply theoretical
knowledge will also be exercised.
Contents Concept and characteristics of embedded systems. Embedded systems based on
microcontrollers. Architecture of microcontrollers, instruction repertoire, interrupts,
input/output devices, buses and communications. Embedded and real-time systems.
Real-time operating systems. Programming of embedded systems.

They are organized into 4 themes:

1. Introduction to embedded systems. Definition and characteristics. Representation of
information.
2. Architecture of an embedded system. Microcontrollers. Instruction repertoire. Efficient
programming.
3. Operating systems for embedded systems. Interruptions. Real time systems
4. Entry/exit management. Communication with peripherals. GPIO. Buses.
Communication protocols.

The practices will be assembly and programming in assembler and C. There will be 4
mandatory practices and 1 optional. The topics to be discussed will be:
- Introduction to compilation. Cross compilation. Assembly language. Associated with
topics 1,2.
- Introduction to arimetic and loading operations. Memory usage. Associated with topic
2.
- Jumps and subroutines. Associated with topics 2,3
- Real-time operating systems. Associated with topic 3.
- Entrance exit. Associated with topic 4.