Roboterdynamik für RCI

What it is about

You will learn to describe and model the kinematics and kinetics of stiff serial robots as well as apply trajectory planning and control. In the end you can analyze robot structures, derive motions and dynamics, and evaluate and use concepts of planning and control.

What you will be able to do

• Analyze the structure of stiff serial robots
• Describe motions (kinematics)
• Model dynamics (kinetics, Newton–Euler, equations of motion)
• Apply and evaluate concepts of trajectory planning
• Apply and evaluate concepts of control (joint-/task-space, force- and position-control)
• Know physical components of common robots

What the module consists of

• Vorlesung mit integrierter ÜbungDelivery of theoretical foundations, step-by-step derivations and opportunity to ask questions in presence
• Selbststudium mit Lehrvideos und kurzen ZwischenübungenShort videos explain the basics; automatic consolidation of tasks through server-side evaluation
• Übungsaufgaben und AufgabenblätterDeepening of skills on larger tasks, application and reflection in the practice part

Teaching method

• Vorlesung mit integrierter ÜbungExplains theory and provides room for discussion, questions and application in the practice frame
• Lehrvideos zum SelbststudiumPresentation and derivation of the basics, which you work through on your own computer
• Automatisch ausgewertete KurzübungenSecures immediate understanding through independent solving and automatic correction
• Aufgabenblätter mit LösungenIndependent deepening and follow-up of the contents