The objective is to gain specific qualifications for modeling, analysis, simulation, and control of complex dynamical systems based on analytical methods and modern simulation tools.
Lecture in the winter term: robot kinematics (rotation matrices, Euler angles, roll-pitch-yaw angles, translational motion, combined rotation and translation, angular velocity, manipulator Jacobian), rigid body dynamics (kinetic energy, potential energy, Euler Lagrange equations), inverse kinematics for robotic systems, introduction to numerical simulation methods
Lab exercises in the summer term: introduction to Matlab/Simulink, introduction to the computer algebra program Maple, application of the theoretical concepts in mathematical modeling taught in the winter term and of the methods from the lecture automatic control to specific simulation examples as well as laboratory experiments
