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Robotics 1 (ROB1)5 ECTS (englische Bezeichnung: Robotics 1)
Modulverantwortliche/r: Knut Graichen Lehrende:
Andreas Völz, Julian Kißkalt
Start semester: |
SS 2022 | Duration: |
1 semester | Cycle: |
jährlich (SS) |
Präsenzzeit: |
60 Std. | Eigenstudium: |
90 Std. | Language: |
Englisch |
Lectures:
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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.)
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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:
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: Das Modul ist im Kontext der folgenden Studienfächer/Vertiefungsrichtungen verwendbar:
- 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))
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
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