UnivIS
Information system of Friedrich-Alexander-University Erlangen-Nuremberg © Config eG 
FAU Logo
  Collection/class schedule    module collection Home  |  Legal Matters  |  Contact  |  Help    
search:      semester:   
 
 Layout
 
printable version

  
 
Module Description Sheet (PDF)

  
 
 Also in UnivIS
 
course list

lecture directory

  
 
events calendar

job offers

furniture and equipment offers

  
 
Artificial Intelligence (Master of Science) >>

Robotics 1 (ROB1)5 ECTS
(englische Bezeichnung: Robotics 1)
(Prüfungsordnungsmodul: Robotics 1 (Control fundamentals) (ROB1))

Modulverantwortliche/r: Knut Graichen
Lehrende: Andreas Völz, Julian Kißkalt

Start semester: SS 2022Duration: 1 semesterCycle: jährlich (SS)
Präsenzzeit: 60 Std.Eigenstudium: 90 Std.Language: Englisch

Lectures:

    • Robotics 1
      (Vorlesung, 2 SWS, Andreas Völz et al., Tue, 10:15 - 11:45, 04.023; The course is planned as a face-to-face event. Interested participants please register via StudOn, where you will also be informed about any date/mode changes.)
    • Excercises to Robotics 1
      (Übung, 2 SWS, Andreas Völz et al., Fri, 10:15 - 11:45, H16; The course is planned as a face-to-face event. Interested participants please register via StudOn, where you will also be informed about any date/mode changes.)

Empfohlene Voraussetzungen:

  • Basis knowledge of advanced mathematics

  • Basic knowledge of control theory

Inhalt:

This lecture introduces the fundamentals of robotics with a focus on manipulator control. The course covers the following topics:

  • Modeling: coordinate systems and transformations, parameterization of rotation matrices, forward and inverse kinematics, Jacobians and singularities

  • Trajectory planning: polynomial and trapezoidal trajectories, trajectories with intermediate points, trajectories in task space

  • Linear control: actuator dynamics, decentralized motion control, basics of task space and force control

Lernziele und Kompetenzen:

After successful completion of the module, students will be able to

  • mathematically describe and analyze the kinematics of robotic manipulators.

  • plan trajectories for robot motions.

  • design and implement linear methods for robot motion and force control.

Literatur:

M. Spong, S. Hutchinson und M. Vidyasagar: Robot Modeling and Control. Wiley, 2005.
B. Siciliano, L. Sciavicco, G. Oriolo und L. Villani: Robotics Modelling, Planning and Control. Springer, 2009.
J. Craig: Introduction to Robotics: Mechanics and Control. Pearson, 2018.

Verwendbarkeit des Moduls / Einpassung in den Musterstudienplan:

  1. Artificial Intelligence (Master of Science)
    (Po-Vers. 2021s | TechFak | Artificial Intelligence (Master of Science) | Gesamtkonto | Nebenfach | Nebenfach Elektrotechnik, Elektronik und Informationstechnik | Robotics and automation | Robotics 1 (Control fundamentals) (ROB1))
Dieses Modul ist daneben auch in den Studienfächern "Elektrotechnik, Elektronik und Informationstechnik (Bachelor of Science)", "Elektrotechnik, Elektronik und Informationstechnik (Master of Science)", "Maschinenbau (Bachelor of Science)", "Maschinenbau (Master of Science)", "Mechatronik (Bachelor of Science)", "Mechatronik (Master of Science)", "Wirtschaftsingenieurwesen (Bachelor of Science)", "Wirtschaftsingenieurwesen (Master of Science)" verwendbar. Details

Studien-/Prüfungsleistungen:

Robotics 1 (Control fundamentals) (ROB1) (Prüfungsnummer: 25191)
Prüfungsleistung, Klausur, Dauer (in Minuten): 90, benotet, 5 ECTS
Anteil an der Berechnung der Modulnote: 100.0 %
Prüfungssprache: Englisch

Erstablegung: SS 2022, 1. Wdh.: WS 2022/2023
1. Prüfer: Knut Graichen

UnivIS is a product of Config eG, Buckenhof