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Workload
Education level
Study areas
Responsible person
Hours per week
Coordinating university
3 ECTS
M - Master's programme
Mechatronics
Andreas Müller
2 hpw
Johannes Kepler University Linz
Detailed information
Original study plan
Master's programme Mechatronics 2025W
Learning Outcomes
Competences
The students know and understand efficient methods and algorithms for setting up and evaluating the dynamic equations of motion of complex holonomic and non-holonomic robots, which may also contain elastic components. They are familiar with the subsystem technology for modeling such robots.
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 Höhere Kinetik -Mehrkörpersysteme
Bremer, H.: Dynamik und Regelung mechanischer Systeme, Teubner 1988
