 |
| Detailed information |
| Original study plan |
Master's programme Mechatronics 2023W |
| Objectives |
Students have in-depth knowledge of kinematics and dynamics modeling of robots and general multibody systems using modern geometric method based on Lie-group theory. They are able to implement the theoretical concepts in form algorithms and to apply them to particular complex multibody systems.
|
| Subject |
Geometric modeling, matrix description of robot kinematics, Lie groups, coordinate invariant modeling, synthetic methods, computational algorithms
|
| Criteria for evaluation |
Homework, oral or written exam
|
| Methods |
Blackboard and slide presentation
|
| Language |
German |
| Study material |
- Lecture notes
- K.M. Lynch, F.C. Park: Modern Robotics: Mechanics, Planning, and Control, Cambridge University Press, 2017
- R.M. Murray, Z. Li, and S.S. Sastry: A Mathematical Introduction to Robotic Manipulation, CRC Press Boca Raton, 1994
- Jorge Angeles: Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms, Springer, 3rd ed., 2007
- JKU KUSSS and/or Moodle
|
| Changing subject? |
No |
| Corresponding lecture |
(*)MEMWBKVAKRO: KV Ausgewählte Kapitel der Robotik (3 ECTS)
|
|
