Robotics

What it is about

You learn how mechanical systems — in particular robotic manipulators — are translated into mathematical models to describe motion and dynamics. On this basis you derive control parameters (for example for PID controllers) to compensate deviations along predefined trajectories and to regulate position or force.

What you will be able to do

• Create a mathematical model of a manipulator using Newton-Euler or Lagrange
• Establish the relationship between drive moments and motion parameters
• Explain the importance of the dynamic model for the design of PID control parameters
• Determine optimal PID values for position and force control

What the module consists of

• VorlesungDelivery of theoretical foundations and definition of topics
• Tutorials / Übung (2 Stunden Präsentation)Independent solving of exercises with subsequent presentation in the session
• Gastvorträge / PraxisbeispieleIncorporation of industrial examples for illustration
• Selbststudium (aufgenommene Vorlesungen)Deepening and revisiting the contents

Teaching method

• VortragExplanation of lecture contents
• Interaktive DiskussionDeepening understanding
• Tutorials zur SelbstbearbeitungPromotion of individual learning and application of the material
• Aufgenommene VorlesungenSupport for self-study
• Praktische Beispiele und GastvorträgeLinking theory with industrial applications