Module Description

Module: Robotics

Courses:

TitleTypeHrs/WeekPeriod
Robotics: Modelling and ControlLecture3Winter Semester
Robotics: Modelling and ControlRecitation Section (small)2Winter Semester

Module Responsibility:

Prof. Uwe Weltin

Admission Requirements:

None

Recommended Previous Knowledge:

Fundamentals of electrical engineering

Broad knowledge of mechanics

Fundamentals of control theory

Educational Objectives:

Professional Competence

Theoretical Knowledge

Students are able to describe fundamental properties of robots and solution approaches for multiple problems in robotics.

Capabilities

Students are able to derive and solve equations of motion for various manipulators.

Students can generate trajectories in various coordinate systems.

Students can design linear and partially nonlinear controllers for robotic manipulators.

Personal Competence

Social Competence

Students are able to work goal-oriented in small mixed groups.

Autonomy

Students are able to recognize and improve knowledge deficits independently.

With instructor assistance, students are able to evaluate their own knowledge level and define a further course of study.

ECTS-Credit Points Module:

6 ECTS

Examination:

Written exam

Workload in Hours:

Independent Study Time: 110, Study Time in Lecture: 70


Course: Robotics: Modelling and Control

Lecturer:

Uwe Weltin

Language:

English

Period:

Winter Semester

Content:

Fundamental kinematics of rigid body systems

Newton-Euler equations for manipulators

Trajectory generation

Linear and nonlinear control of robots

Literature:

Craig, John J.: Introduction to Robotics Mechanics and Control, Third Edition, Prentice Hall. ISBN 0201-54361-3

Spong, Mark W.; Hutchinson, Seth;  Vidyasagar, M. : Robot Modeling and Control. WILEY. ISBN 0-471-64990-2