Praktikum Robot Modeling, Identification, and Control

What it is about

You work with simulation-based MATLAB/Simulink experiments on modeling, identification and control of robot systems. In the end you will be able to model robot kinematics and dynamics, identify inertia and friction parameters, and implement and apply various controllers (e.g., PID, computed-torque, adaptive, impedance).

What you will be able to do

• Determine Denavit-Hartenberg parameters
• Identify masses, centers of gravity and inertia parameters
• Identify friction parameters
• Model kinematics and dynamics with Newton-Euler and Euler-Lagrange
• Implement PID and computed-torque controllers
• Implement Luenberger and disturbance observers
• Understand fundamentals of adaptive, force and impedance control

What the module consists of

• PraktikumConduct 8–9 simulation-based experiments in MATLAB/Simulink; central assessment
• Theorie-Review / DiskussionDiscussion of theoretical foundations and implementation details

Teaching method

• Theorie-Review anhand von Literatur und SkriptenDelivery of the necessary theoretical foundations
• Interaktive DiskussionClarification of theory and implementation questions
• Praktische Umsetzung der ÜbungenApply and consolidate methods through simulation-based experiments