Robotics I

Mainly, the lecture "Robotics I" includes the approaches for the modelling (kinematics and dynamics) of industrial robots as well as of redundant mechanisms. Additionally, basic as well as advanced methods for the control of robots are presented.


TOPICS (SUBJECT TO ALTERATIONS)

In the following the main topics of the lecture "Robotics I" are listed:

  • Direct and inverse kinematics
  • Coordinate and homogeneous transformations
  • Denavit-Hartenberg-Notation
  • Jacobi-Matrices
  • Kinematically redundant mechanisms
  • Trajectory planning
  • Dynamics
  • Newton-Euler and Lagrange methods
  • Control
  • Interaction control
  • Sensors

COURSE MATERIAL

Lecture notes are offered at Stud.IP. Amongst others, these include the lecture notes as well as exercises.

Notice: Lecture notes as well as the lecture itself are given in German.


ORGANISATION

Lecturer:

  • Prof. Dr.-Ing. Tobias Ortmaier

Term:

  • winter term

Lectures: 

  • The recording of the lecture is uploaded every Monday morning

Tutorials:

  • The recording of the tutorial accompanying the lecture will also be uploaded on Monday morning

Question Time

  • Accompanying the asynchronously recorded lecture and tutorial, a question time on the lecture and exercise contents of the previous week will take place during the lecture period from 26.10.2020 on Mondays from 13:45 to 14:30 (via BigBlueButton). Questions can be asked here directly via chat or video call. The link to the question time can be found in StudIP under Meetings.

Computer exercise

  • The computer exercise accompanying the lecture is worked on independently at home. In the exercise, the topics of the lecture hall exercise are deepened with tasks on a six-axis kinematics and at the same time the use of the Matlab software from Mathworks® is trained. All materials for the computer exercise are provided in StudIP.   

This course is given in each semester by alternating lecturers. The content is identical in each semster. In the summer semester the lectures are given by Prof. Ortmaier (imes). In the winter semester they are given by Prof. Müller (IRT).

CONTACT

M. Sc. Marvin Stüde
Research Staff
Address
Appelstraße 11/11a
30167 Hannover
Building
Room
M. Sc. Marvin Stüde
Research Staff
Address
Appelstraße 11/11a
30167 Hannover
Building
Room