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Instructors: Lasse Einig; Prof. Dr. Jianwei Zhang
Event type:
Practical course/lab
Displayed in timetable as:
Robotics -Üb
Hours per week:
1
Language of instruction:
English
Min. | Max. participants:
- | 32
Comments/contents:
The exercise deepens the content covered in the lecture (64-450) in order to sustainably impart the concepts. In order to synchronize the exercises to the progress of the lecture, the exercises will be irregularly interleaved with the practical exercises (64-452). The dates will be announced in the lecture and on the website.
Topics of the exercise are:
- Coordinate systems
- Homogeneous transformations
- Robot description
- Frame transformations
- Inverse Kinematics of manipulators
- Differential motion
- Path planning and collision detection
- Control systems
Learning objectives:
The students deepen the knowledge from the lecture by practially applying the theoretical concepts.
Didactic concept:
The assignments will be done at home by the students and collectively discussed during the exercise. The students will usually get two weeks for each assignment, depending on the complexity of the assignment. Required for successful participation are:
- Regular presence in the exercises
- At least 50% of the possible score
- Presentation of the solutions
The solutions will be handed in as a group.
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 is required for completing the module.
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