 |
| Detailed information |
| Original study plan |
Master's programme Mechatronics 2025W |
| Learning Outcomes |
Competences |
| The students know and understand methods for the efficient modeling of complex stationary and non-stationary robots using Lie groups. They are able to implement these methods and apply them to practically relevant examples (industrial robots, mobile robots, humanoids, space robots).
|
|
| Skills |
Knowledge |
- Understanding and application of the description of spatial motions using Lie groups (k4)
- Understanding and application of canonical parameterizations of the Lie groups SO(3) and SE(3) (k4)
- Understanding and application of the description of the kinematics of serial robots using the product of exponentials (POE) (k4)
- Understanding and application of Lie group-based modeling of the dynamics of stationary robots (k3)
- Understanding and application of Lie group-based modeling of the dynamics of non-stationary robots (k3)
- Understanding and application of Lie group-based modeling of the dynamics of non-stationary robots without the influence of gravity (space robots) (k3)
- Independent implementation and application of numerical methods for modeling stationary and non-stationary robots (k5)
|
- Description of spatial motions using Lie groups
- canonical parameterizations of the Lie groups SO(3) and SE(3)
- Description of the kinematics of serial robots using the product of exponentials (POE)
- Lie group-based methods for modeling the dynamics of stationary robots
- Lie group-based methods for modeling the dynamics of non-stationary robots
- Lie group-based methods for modeling the dynamics of non-stationary robots without the influence of gravity (space robots)
- Numerical methods for modeling stationary and non-stationary robots and their implementation
- Numerical Methods for solving the inverse Kinematics Problem of general Robots
|
|
| 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)
|
|
