|Robotics: Modelling and Control||Lecture||3||Winter Semester|
|Robotics: Modelling and Control||Recitation Section (small)||2||Winter Semester|
Prof. Uwe Weltin
Recommended Previous Knowledge:
Fundamentals of electrical engineering
Broad knowledge of mechanics
Fundamentals of control theory
Students are able to describe fundamental properties of robots and solution approaches for multiple problems in robotics.
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.
Students are able to work goal-oriented in small mixed groups.
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:
Workload in Hours:
Independent Study Time: 110, Study Time in Lecture: 70
Course: Robotics: Modelling and Control
Fundamental kinematics of rigid body systems
Newton-Euler equations for manipulators
Linear and nonlinear control of robots
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