# 376.078 Foundations of Robotics This course is in all assigned curricula part of the STEOP.\$(function(){PrimeFaces.cw("Tooltip","widget_j_id_21",{id:"j_id_21",showEffect:"fade",hideEffect:"fade",target:"isAllSteop"});});This course is in at least 1 assigned curriculum part of the STEOP.\$(function(){PrimeFaces.cw("Tooltip","widget_j_id_23",{id:"j_id_23",showEffect:"fade",hideEffect:"fade",target:"isAnySteop"});}); 2023W 2022W

2023W, VU, 3.0h, 4.5EC

## Properties

• Semester hours: 3.0
• Credits: 4.5
• Type: VU Lecture and Exercise
• Format: Presence

## Learning outcomes

After successful completion of the course, students are able to...

• understand the structure and the individual components of robot control architectures.
• compare the most common sensors and actuators in robotics.
• compute the forward and inverse kinematics of different robot systems, in particular of serial manipulators and robots with parallel kinematics.
• describe and compute the the equations of motion (dynamics) of a robot manipulator.
• extend the dynamical model by kinematic constraints and contact transitions.
• solve elementary control problems for robots in configuration- and task-space.
• apply the above contents to kinematically redundant robots.

## Subject of course

Overview of robot systems and control architectures, basics of sensors and actuators in robotics, kinematics and dynamics of a rigid-body, recursive algorithms for computation of the kinematics and dynamics of serial kinematic chains, DH-parameters, product of exponentials formula, inverse kinematics, computation of robot dynamics via Lagrangian framework and recursive Newton/Euler algorithms, modeling of kinematic constraints and contact transitions, modeling of robots with parallel kinematics as well as mobile robots, control in configuration- and task-space, introduction to force and impedance control, kinematics and dynamics of kinematically redundant robots.

## Teaching methods

The contents of this lecture are elaborated and discussed based on written lecture notes. The material is presented on the blackboard and with slides. To deepen, reinforce, and practically apply the material, two laboratory exercises will be conducted with simulations and experiments using the software Matlab/Simulink.

Oral

## Course dates

DayTimeDateLocationDescription
Fri08:00 - 10:0006.10.2023 - 19.01.2024EI 4 Reithoffer HS Vorlesung
Fri13:00 - 14:0001.12.2023EI 4 Reithoffer HS Fragestunde zur ersten Übung
Fri13:00 - 14:0012.01.2024EI 4 Reithoffer HS Fragstunde zur zweiten Übung
Foundations of Robotics - Single appointments
DayDateTimeLocationDescription
Fri06.10.202308:00 - 10:00EI 4 Reithoffer HS Vorlesung
Fri13.10.202308:00 - 10:00EI 4 Reithoffer HS Vorlesung
Fri20.10.202308:00 - 10:00EI 4 Reithoffer HS Vorlesung
Fri27.10.202308:00 - 10:00EI 4 Reithoffer HS Vorlesung
Fri03.11.202308:00 - 10:00EI 4 Reithoffer HS Vorlesung
Fri10.11.202308:00 - 10:00EI 4 Reithoffer HS Vorlesung
Fri17.11.202308:00 - 10:00EI 4 Reithoffer HS Vorlesung
Fri24.11.202308:00 - 10:00EI 4 Reithoffer HS Vorlesung
Fri01.12.202308:00 - 10:00EI 4 Reithoffer HS Vorlesung
Fri01.12.202313:00 - 14:00EI 4 Reithoffer HS Fragestunde zur ersten Übung
Fri15.12.202308:00 - 10:00EI 4 Reithoffer HS Vorlesung
Fri12.01.202408:00 - 10:00EI 4 Reithoffer HS Vorlesung
Fri12.01.202413:00 - 14:00EI 4 Reithoffer HS Fragstunde zur zweiten Übung
Fri19.01.202408:00 - 10:00EI 4 Reithoffer HS Vorlesung

## Examination modalities

The evaluation consists of two exercises and a final oral exam. The positive completion of the exercises is the prerequisite for the registration for the oral exam. The grades of the exercises account for 25% of the total evaluation.

## Exams

DayTimeDateRoomMode of examinationApplication timeApplication modeExam
Thu13:00 - 17:3023.05.2024 Meeting room of the institute (CA0532)oral19.01.2024 18:00 - 20.05.2024 23:59TISSVorlesungsprüfung
Thu13:00 - 17:3020.06.2024 Meeting room of the institute (CA0532)oral19.01.2024 18:00 - 17.06.2024 23:59TISSVorlesungsprüfung

Not necessary

## Curricula

Study CodeObligationSemesterPrecon.Info
066 515 Automation and Robotic Systems Mandatory1. Semester

Lecture Notes

## Previous knowledge

Basics of linear algebra, stability analysis of linear systems in time-domain

German