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Kinematic Principles of Robotics

Module name (EN):
Name of module in study programme. It should be precise and clear.
Kinematic Principles of Robotics
Degree programme:
Study Programme with validity of corresponding study regulations containing this module.
Mechatronics and Sensor Technology, Bachelor, ASPO 01.10.2020
Module code: MST2.KGR
SAP-Submodule-No.:
The exam administration creates a SAP-Submodule-No for every exam type in every module. The SAP-Submodule-No is equal for the same module in different study programs.
P221-0197
Hours per semester week / Teaching method:
The count of hours per week is a combination of lecture (V for German Vorlesung), exercise (U for Übung), practice (P) oder project (PA). For example a course of the form 2V+2U has 2 hours of lecture and 2 hours of exercise per week.
3V+1U (4 hours per week)
ECTS credits:
European Credit Transfer System. Points for successful completion of a course. Each ECTS point represents a workload of 30 hours.
5
Semester: 5
Mandatory course: no
Language of instruction:
German
Assessment:
 


[updated 19.12.2023]
Applicability / Curricular relevance:
All study programs (with year of the version of study regulations) containing the course.

BMT2505.KGR (P221-0197) Biomedical Engineering, Bachelor, ASPO 01.10.2018 , semester 5, optional course
E2588 (P221-0197) Electrical Engineering and Information Technology, Bachelor, ASPO 01.10.2018 , semester 5, optional course
KIB-KGR (P221-0197) Computer Science and Communication Systems, Bachelor, ASPO 01.10.2022 , semester 5, optional course
MAB_19_4.2.1.39 (P221-0197) Mechanical and Process Engineering, Bachelor, ASPO 01.10.2019 , semester 5, optional course
MST2.KGR (P221-0197) Mechatronics and Sensor Technology, Bachelor, ASPO 01.10.2020 , semester 5, optional course
PIB-KGR (P221-0197) Applied Informatics, Bachelor, ASPO 01.10.2022 , semester 5, optional course
Workload:
Workload of student for successfully completing the course. Each ECTS credit represents 30 working hours. These are the combined effort of face-to-face time, post-processing the subject of the lecture, exercises and preparation for the exam.

The total workload is distributed on the semester (01.04.-30.09. during the summer term, 01.10.-31.03. during the winter term).
60 class hours (= 45 clock hours) over a 15-week period.
The total student study time is 150 hours (equivalent to 5 ECTS credits).
There are therefore 105 hours available for class preparation and follow-up work and exam preparation.
Recommended prerequisites (modules):
None.
Recommended as prerequisite for:
Module coordinator:
Prof. Dr. Michael Kleer
Lecturer: Prof. Dr. Michael Kleer

[updated 24.10.2023]
Learning outcomes:
Students will be able to demonstrate and apply the most important methods for describing and calculating robot systems. They will be able to independently explain and calculate the interaction of robot systems with several coordinate systems and the associated coordinate transformations in detail. In addition, students will be able to independently calculate the forward and inverse kinematics of typical industrial robots and solve path and trajectory planning tasks.

[updated 19.12.2023]
Module content:
1.        Classifying robot workspaces
2.        Principles of rotations, transformations, coordinate system representations
3.        Introduction to homogeneous transformations
4.        Introduction to the Denavit-Hartenberg transformation method
5.        Forward and inverse kinematics of serial robots
6.        Basics of the Jacobian matrix
7.        The fundamentals of path and trajectory planning


[updated 19.12.2023]
Recommended or required reading:
Springer Handbook of Robotics, https://doi.org/10.1007/978-3-540-30301-5
Robot Modeling and Control, ISBN: 978-1-119-52404-5

[updated 19.12.2023]
 
[Thu Nov 21 16:53:56 CET 2024, CKEY=ekgdr, BKEY=mst4, CID=MST2.KGR, LANGUAGE=en, DATE=21.11.2024]