The objective of this course is to introduce the students to fundamental theory related to modeling, applications and programming of fixed manipulators and mobile robots.


Presentation of mathematical theory with;

  • presentation slides;
  • practice classes in the Robotics lab, and;
  • development of projects aimed at solving specific tasks.


The grades are comprised by the following activities. Homework (HW), practical exam (PE) and project (P). The total amount corresponds to one grade per two months.

HW (30%) + PE (35%) + PJ (35%) = AB (100%).


  1. Introduction.
  2. Spatial description and transforms.
  3. Direct kinematics.
  4. Inverse kinematics.
  5. Jacobians: Velocities and static forces.
  6. Locomotion.
  7. Mobile kinematics.
  8. Perception.
  9. Localization.


  • Craig, John J.. "ROBÓTICA". 3ª Edição. Pearson.
  • Siegwart, R. Nourbakhsh, I. R. Introduction to Autonomous Mobile Robots. MIT Ptess, 2004.