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Module code: PIB-KGR |
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3V+1U (4 hours per week) |
5 |
Semester: 5 |
Mandatory course: no |
Language of instruction:
German |
Assessment:
[updated 19.12.2023]
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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
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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.
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Recommended prerequisites (modules):
None.
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Recommended as prerequisite for:
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Module coordinator:
Prof. Dr. Michael Kleer |
Lecturer: Prof. Dr. Michael Kleer
[updated 24.10.2023]
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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]
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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]
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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]
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