| Type of course | Lecture + Excercise + Lab |
| Level | Master |
| Semester | Winter semester |
| Credit points | 5 CP |
| Workload | 4 contact hours per week |
| Examination | written exam (90 min) + Lab |
| Lecture | Prof. Dr.-Ing. Thomas Seel |
| Excercise Instructor | M. Sc. Tim-Lukas Habich |
Course objective
As part of the "Robotics I" lecture, students learn design and analysis methods for the kinematics and dynamics of industrial robots as well as redundant robotic systems. The course introduces techniques for controlling robots, with a strong focus on classical approaches and methods in the field of robotics.
Course content
- Forward and inverse kinematics
- Coordinate and homogeneous transformations
- Denavit-Hartenberg notation
- Jacobian matrices
- Kinematically redundant robots
- Trajectory planning
- Dynamics
- Newton-Euler method and Lagrangian equations
- Single-axis and cascade control, feedforward control
- Advanced control techniques
- Sensors
Materials
The lecture-related materials for the course "Robotics I" will be made available for download on Stud.IP throughout the course of the lecture. These include the script, exercises, exam materials, and supplementary literature.
Important notes
This lecture is offered every semester with alternating instructors but identical content. In the summer semester, "Robotics I" is taught by Prof. Müller from the IRT, and in the winter semester by Prof. Seel.
The accompanying computer-based exercise is completed independently at home. It builds on the topics covered in the classroom exercises through tasks involving a six-axis robot, while also providing hands-on practice with MATLAB software from MathWorks®.
In addition, the Roboter-Camp is offered alongside the course. All relevant information can be found on the Roboter-Camp page.