112.015 Geometric Kinematics
This course is in all assigned curricula part of the STEOP.
This course is in at least 1 assigned curriculum part of the STEOP.

2020W, VU, 2.0h, 3.0EC

Properties

  • Semester hours: 2.0
  • Credits: 3.0
  • Type: VU Lecture and Exercise
  • Format: Presence

Learning outcomes

After successful completion of the course, students are able to describe and analyse spatial motions by fundamental methods of spatial kinematiks and to apply them in the field of serial and parallel robotics.

Subject of course

Orthogonal matrices, quaternions, Euler parameters, dual quaternions, Study parameters, spear coordinates, the instantaneous screw, the linear complex of normals, relative motions, Denavit-Hartenberg parameters, forward and inverse kinematics of serial and parallel manipulators and their Jacobian matrices.

Teaching methods

Presentation and discussion of relevant content. Computation of exercise examples.

Mode of examination

Immanent

Lecturers

Institute

Course dates

DayTimeDateLocationDescription
Fri09:00 - 12:3002.10.2020 - 13.11.2020 Dissertantenzimmer, Freihaus (grüner Turm, 8.Stock)VU-Termin
Fri09:00 - 12:3020.11.2020 Dissertantenzimmer, Freihaus (grüner Turm, 8.Stock)Ersatztermin
Geometric Kinematics - Single appointments
DayDateTimeLocationDescription
Fri02.10.202009:00 - 12:30 Dissertantenzimmer, Freihaus (grüner Turm, 8.Stock)VU-Termin
Fri09.10.202009:00 - 12:30 Dissertantenzimmer, Freihaus (grüner Turm, 8.Stock)VU-Termin
Fri16.10.202009:00 - 12:30 Dissertantenzimmer, Freihaus (grüner Turm, 8.Stock)VU-Termin
Fri23.10.202009:00 - 12:30 Dissertantenzimmer, Freihaus (grüner Turm, 8.Stock)VU-Termin
Fri30.10.202009:00 - 12:30 Dissertantenzimmer, Freihaus (grüner Turm, 8.Stock)VU-Termin
Fri06.11.202009:00 - 12:30 Dissertantenzimmer, Freihaus (grüner Turm, 8.Stock)VU-Termin
Fri13.11.202009:00 - 12:30 Dissertantenzimmer, Freihaus (grüner Turm, 8.Stock)VU-Termin
Fri20.11.202009:00 - 12:30 Dissertantenzimmer, Freihaus (grüner Turm, 8.Stock)Ersatztermin

Examination modalities

Exercise examples and an oral exam.

Course registration

Begin End Deregistration end
08.09.2020 12:00 02.10.2020 12:00 02.10.2020 12:00

Registration modalities

It is also possible to register in the first lecture on October 2nd, 2020.

Curricula

Study CodeSemesterPrecon.Info
700 Mechanical Engineering

Literature

Es wird ein Skriptum angeboten.

Language

if required in English