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.


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 tutorial accompanying the lecture takes place on Mondays in room 030 in building 8130 from 15:30 - 16:30 in presence. It will be recorded and uploaded as well.

Computer exercise

  • The computer exercise accompanying the lecture is worked on independently at home. In the exercise, the topics of the tutorials 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 winter semester the lectures are given by Prof. Ortmaier. In the summer semester they are given by Prof. Müller (IRT).

CONTACT

M. Sc. Tim-Lukas Habich
Research Staff
Address
An der Universität 1
30823 Garbsen
Building
Room
M. Sc. Tim-Lukas Habich
Research Staff
Address
An der Universität 1
30823 Garbsen
Building
Room