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Logo: Institute of Mechatronic Systems
Logo Leibniz Universität Hannover
Logo: Institute of Mechatronic Systems
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Robotics II

The course covers new trends in the field of robotics. Besides the calculation of the kinematics and dynamics of parallel robot structures, linear and nonlinear techniques to identify key system parameters are presented. In addition, the lecture gives an overview of the common methods for describing mobile and autonomous robots. Further topics include image-based methods for controlling such systems.

Topics (subject to alterations)

  • Parallel kinematic mechanisms

    • structures
    • inverse and direkt kinematics
    • kinematic performance criteria
    • dynamics


  • Parameter identification

    • lineare, nonlinear, and global algorithms
    • sensitivity analysis
    • optimal stimulation

  • Visual Servoing

    • 2½D and 3D approaches
    • camera calibration

  • Mobile Systems

    • trajectory planning
    • obstacle avoidance
    • localisation and map building
    • sensors

Organisational aspects

  • Lecturer: Prof. Dr.-Ing. Tobias Ortmaier
  • Term: summer term
  • Lectures: Monday, 15:00 - 16:30 Uhr
  • Lecture room: F102, Building 1101 (Hauptgebäude)
  • Tutorials: Monday, 14:00 - 14:45 Uhr
  • Tutorial room: F102, Building 1101 (Hauptgebäude)
  • Type of exam: written

Contact

Course Materials

Lecture notes are offered at Stud.IP. Amongst others, these include a scriptum as well as exercises and literature. Lecture is given in German.