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Instructors: Shuang Li
Event type:
Lecture
Displayed in timetable as:
Robotics-VL
Hours per week:
2
Language of instruction:
English
Min. | Max. participants:
- | 32
Comments/contents:
The lecture covers the foundation and some of the most important concepts in robotics. The main focus of the the lecture is the description of complex dynamic robotic systems. At first, the description of the physical, kinematic and dynamic properties will be examined. This includes the required transformation descriptions and the path planning for mobile robots as well as manipulators. Later, the basic concepts of robot programming and control architecture will be presented and finally, the follow-up lecture Applied Sensor Technology for Intelligent Robots / Intelligent Robots is prepared.
Topics of the lecture are:
- Foundation: classification, coordinate systems, homogeneous transformations
- Kinematics: robot description (Denavit-Hartenberg convention), frame transformation, hands-on examples
- Inverse kinematics of manipulators
- Differential motion, velocity and acceleration
- Path planning and trajectory generation: collision detection and avoidance
- Dynamics: Force-Torque properties of manipulators
- Control systems for robots
- Task-level programming for trajectory generation and path planning
- Architectures of sensor-based intelligent systems
Learning objectives:
The students will get an overview of the requirements of complex robotic systems. The fundamental knowledge of robotics will be covered.
In order to understand and use a real robotic system, contents from mechanical engineering, dynamics, sensing, control systems engineering, programming and artificial intelligence will be combined. The students should be able to describe and program a complex robotic systems (e.g. within the master project 'Intelligent Robots')
Didactic concept:
The module is suitable for Master- and Diplomastudents. It contains lecture (64-450), exercise (64-451) and pratical exercise (64-452). The practical exercise will be integrated into the regular exercises.
Literature:
- R. P. Paul, Robot Manipulators: Mathematics, Programming and Control, MIT Press, 1986
- K.-S. Fu, C. S. G. Lee, R. Gonzalez, Robotics: Control, Sensing, Vision and Intelligence, McGraw-Hill Education, 1987
- John J. Craig, Introduction to Robotics: Mechanics and Control, 3rd ed., Prentice Hall, 2005
- M. W. Spong, S. Hutchinson, M. Vidyasagar, Robot Modeling and Control, John Wiley & Sons, 2006
Additional literature, as well as technical writings and other documents will be announced in the lecture and on the website.
Additional examination information:
The successful participation in exercise and practical exercise is required for completing the module.
The oral exam dates will be directly appointed within the last third of the lecture.
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