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[ 481VRTRRD1U22 ] UE Robot Dynamics I
Versionsauswahl
(*) Unfortunately this information is not available in english.
Workload Education level Study areas Responsible person Hours per week Coordinating university
1,5 ECTS M - Master's programme Mechatronics Andreas Müller 1 hpw Johannes Kepler University Linz
Detailed information
Original study plan Master's programme Mechatronics 2025W
Learning Outcomes
Competences
The students are able to independently apply efficient methods and algorithms for the formulation and evaluation of the dynamic equations of motion of complex holonomic and non-holonomic robots, which may also contain elastic components, to practical examples from robotics.
Skills Knowledge
  • Understanding and applying the kinematic topology of a robot (k5)
  • Understanding non-holonomic constraints and coordinates (k4)
  • Understanding and applying the conditions for holonomic constraints (k5)
  • Understanding and applying recursive O(n) methods for the kinematics and dynamics of robots (k3)
  • Understanding and applying subsystem technique for modeling robots (k4)
  • Understanding and applying the workspace method for evaluating the differential equations of motion for parallel kinematic robots (k3)
  • Understanding and applying the equations of motion for mobile robots (k3)
  • Deriving and applying cut-joint constraints for technical joints (k5)
  • Understanding and applying methods for stabilizing geometric closure conditions (k4)
  • Understanding and applying the models for systems with switching constraints (k3)
  • Representation of the kinematic topology of a robot
  • Non-holonomic coordinates and constraints
  • Frobenius condition for holonomic constraints
  • Formulation of geometric closure conditions of technical joints
  • Numerical methods for solving inverse kinematics
  • Subsystem technology for the dynamics of complex robots
  • Recursive O(n) methods for kinematics and dynamics
  • Workspace formulation for the kinematics and dynamics of parallel kinematic robots
  • Models for systems with switching constraints
  • Methods for stabilizing geometric closure conditions
Criteria for evaluation Written exam
Methods Blackboard and slide presentation
Language German
Study material - Lecture notes Roboterdynamik I - Bremer, H.: Dynamik und Regelung mechanischer Systeme, Teubner 1988 - Bremer, H., Pfeiffer, F.: Elastische Mehrkörpersysteme, Teubner 1992 - Bremer, H.: Elastic Multibody Dynamics - A Direct Ritz Approach, Springer 2008 - JKU KUSSS and/or Moodle
Changing subject? No
Corresponding lecture (*)MEMWBKVABHK: KV Ausgewählte Beispiele zur höheren Kinetik (1,5 ECTS)
On-site course
Maximum number of participants 35
Assignment procedure Assignment according to sequence