Robotics 1 (Robotik 1 -- Mathematische und technische Grundlagen)

Dozent: 

Prof. Dr. Jochen J. Steil

Organisator: 

Institut für Robotik und Prozessinformatik
Mühlenpfordtstraße 23 Telefon: 391 - 7451

Termine: 

  • Mo. 11:30 - 13:00 Uhr: Online (Lecture)
  • Mi. 9:45 - 11:15 Uhr: Online (Execercise)
  • first lecture: 19.10. 2020
  • first exercise: 21.10. 2020
  • written exam (preliminary planning, to be confirmed): 02.03.2021 (8:00-10:00)

LV-Nummer: 

4215016

LV-Nummer (Übung): 

4215025

Modulnummer: 

INF-ROB-25

Leistungspunkte: 

5

Übungsleiter: 

Sven Tittel

Zielgruppe: 

Students of computer science, electrical engineering and mechanical engineering, as well as further interested participants.

You need to register in the StudIP. Registration is open until start of the semester, afterwords only via password announced in the lecture.

The lecture and exercises are conducted in English.

Voraussetzungen: 

knoweldge of basic higher mathematics: linear algebra, trigonometrics, differential calculus

Literatur: 

  • Spong, Hutchinson, Vidyasagar, Robot Dynamics and Control, 2005 (available online)
  • Craig. Introduction to Robotics: Mechanics and Control (3rd Edition). Pearson, 2004 (ISBN: 978-0201543612)
  • Siciliano, Khatib. Handbook of Robotics. Springer, 2008 (ISBN: 978-3-540-23957-4)
  • Siciliano, Sciavicco et al. Robotics: Modelling, Planning and Control, Springer, 2009 (ISBN: 978-1-84628-641-4)
  • Slides and recordings will be provided
  • further literature may be announced in the lecture

Unterlagen: 

  • All materials for this lecture are distributed only through the StudIP.

    • Sprechstunden: 

    Jochen Steil
    Di. 13:00 - 14:00 Uhr (office hours currently by video conferencing, please register by sending an email)

    The content introduces some of the most relevant basic formalisms for robotics, amongs these:
    - Hardware and sensors, definitions of robots
    - Links and joints, basic configurations of robotic manipulators

    - Poses and homogeneous transforms
    - Representations of rotations
    - Kinematic description of robots, DH-parameters
    - Forward and inverse kinematics
    - Differential kinematics and velocity control
    - Basics of trajectory planning
    - Robot dynamics