Computational Dynamics for Robotics (CDR)5 ECTS
(englische Bezeichnung: Computational Dynamics for Robotics)

Lehrveranstaltungen:

• • Computational multibody dynamics
    (Vorlesung mit Übung, 4 SWS, Giuseppe Capobianco, Mi, 8:15 - 9:45, SR TM; Do, 14:15 - 15:45, 04.023)

Empfohlene Voraussetzungen:

• basic knowledge of dynamics

• linear algebra

• differential equation

• basic knowledge programming in Python.

  Es wird empfohlen, folgende Module zu absolvieren, bevor dieses Modul belegt wird:

  Dynamik starrer Körper (3V+2Ü+2T) (WS 2021/2022)
  Mehrkörperdynamik (2V+2Ü) (WS 2021/2022)

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Inhalt:

• Projected Newton-Euler equations (Kane’s equations)

• Numerical methods for ordinary differential equations

• Recursive kinematics

• Parametrization of rotations

• One-dimensional force laws

• Ideal constraints

• Numerical methods for differential algebraic equations

• Inverse kinematics and inverse dynamics
  

Lernziele und Kompetenzen:

Wissen

The students should:

• learn how to derive the equations of motions of a multibody system using the projected Newton-Euler equations,

• familiarize themselves with basic numerical methods for solving ODEs,

• understand how kinematic and dynamic quantities of a multibody system can be computed recursively,

• know different possible parametrizations of rotation matrices and how to transform one into the other,

• understand the concept of one-dimensional force law,

• know Lagrange’s equations of the first kind and how to solve these using appropriate numerical schemes,

• know different approaches to inverse kinematics and inverse dynamics based on optimization,

• understand the object-oriented code structure for the implementation of a simulation software for multibody systems
  

Anwenden

The students will:

• implement a simulation software for multibody systems in Python.
  

Weitere Informationen:

Studien-/Prüfungsleistungen:

Computational Dynamics for Robotics (Prüfungsnummer: 28601)

(englischer Titel: Computational dynamics for robotics)

Prüfungsleistung, mündliche Prüfung, Dauer (in Minuten): 30, benotet, 5 ECTS

Anteil an der Berechnung der Modulnote: 100.0 %

Prüfungssprache: Englisch

Erstablegung: WS 2022/2023, 1. Wdh.: SS 2023

1. Prüfer:

Sigrid Leyendecker