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 lectures are given every monday 1:45 - 3:15 pm, room F102 (Welfengarten 1, main building (building 1101)), except the first lecture that is given 1:45 - 3:15 pm, room A310 (Welfengarten 1, main building (building 1101)).
  • Tutorials:
    The tutorials are given every monday 3:30 - 4:30 pm, room F102 (Welfengarten 1, main building (building 1101)), except the first lecture that is given 3:30 - 4:30 pm, room A310 (Welfengarten 1, main building (building 1101)).

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