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

Lehrveranstaltungen:

• • Robotics 1
    (Vorlesung, 2 SWS, Andreas Völz et al., Di, 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., Fr, 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. Elektrotechnik, Elektronik und Informationstechnik (Master of Science)
   (Po-Vers. 2015s | TechFak | Elektrotechnik, Elektronik und Informationstechnik (Master of Science) | Gesamtkonto | Studienrichtung Automatisierungstechnik | Vertiefungsmodule Automatisierungstechnik | Robotics 1 (Control fundamentals) (ROB1))

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