Introduction to Robotics
Organizational issues
| Term: | winter semester |
| Requirements: | none |
| Exam: | written |
| Lecturer: | Prof. Dr.-Ing. Ulrike Thomas |
| Sign-up: | >>> OPAL |
| Timetable: | Link to the timetable of the TU |
Contents
Please note: the lecture is in German!
Sign-up for the practical part via OPAL; please follow the link above.
The lecture deals with the principles of robotics. The most important aspects will be presented systematically and are based on the architecture of stationary robots.
Topics covered: degrees of freedom, joints, coordination transformations, Denavit-Hartenberg Notation, direct and inverse tasks of kinematics, kinematics of speed, dynamic of the robot, planning of trajectory and last but not least the principles of robot control.
The tutorial style lecture (practical part) allows the connection of the theoretical and practical part of the lecture.
Literature
- Spong, M. W., Hutchinson, S., & Vidyasagar, M. (2020). Robot modeling and control. John Wiley & Sons.
- Fu, K. S., Gonzalez, R., & Lee, C. G. (1987). Robotics: Control Sensing. Vis. Tata McGraw-Hill Education.
- Craig, J. J. (2009). Introduction to robotics: mechanics and control, 3/E. Pearson Education India. (Vorsicht andere DH-Notation)
