After successful completion of the course, students are able to

• describe and simulate the dynamics of rigid body systems such as robots.
• assess the properties and usefullness of numerical algorithms for differential equations.
• utilize modern computer algebra (Maple) and numerics (Matlab/Simulink) software to model, simulate and analyze dynamical systems.
• mathematically describe simple mechatronic systems.
• apply linear control design methods (loop-shaping, pole placement) to such systems.

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

lecture, lab course, preparation of problems prior to the lab courses, independent solution of advanced examples during the lab course, implementation of the designed controllers and observers on lab experiments, discussion of the theoretic foundation during the lab course

• The presentation of this course takes place on the 11th of October 2019, 12:00am - 2:00pm, EI5.
• In the winter term, a lecture (2 hours) in "Selected Topics - Automation and Control" is given. The lecture starts approximately at midterm, see section "course dates". Attendance is compulsory (minimum 40%).
• In the subsequent summer term, the theoretical knowledge in the field of modeling, simulation, identification, controller and observer design obtained from the lectures "Automatic Control", "Mathematical Modelling" and "Selected Topics - Automation and Control" will be applied to specific laboratory experiments. For this, also an introduction to the standard software tools of automatic control (Matlab/Simulink, Maple) will be given. General information regarding the course will be provided in the last lecture in the winter term. Moreover, groups will be formed in this lecture.

The examination consists of the following points:

1. review of the prepared exercises and
2. participation during the course.

Registration is required due to organizational purposes. In addition, attendance of the first lecture is compulsory since important issues concerning content and organization will be discussed.

Lecture notes for this course and the exercise are available here.