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Advanced Robotic Kinematics and Dynamics
The course Advanced Robotic Kinematics and Dynamics offers students a deep understanding of mathematical modelling strategies and solving approaches in the field of industrial robotics. The focus is set on the kinematic and dynamic analysis of serial and parallel manipulators. The course aims to teach students all basics required for the selection, movement control, and programming of such robotic structures.
Key Info
Basic Information
- Degree:
- Master
- Semesters:
- Wintersemester
- Organizational Unit:
- Institute of Mechanism Theory, Machine Dynamics and Robotics
- Lecturer:
- Univ.-Prof. Dr.-Ing. Dr. h. c. Burkhard Corves
- Language:
- English
Further Information
Contact
Course Content
The course covers the methodologies required to calculate positions, velocities, and accelerations of robotic systems. Based on these methodologies, algorithms are developed that encode the mathematical description of the movement states.
The students will develop the ability to deploy and use the Denavit Hartenberg notation for robotic systems. Using this notation, the students will be able to derive the kinematic and dynamic models of serial and parallel robots. Such models are required for the implementation and execution of trajectories in real applications.
Introduction to the robotic structure
- Kinematic structures
- Pose, orientation, and position
- Angle representations
- Unit quaternions
- Workspace analysis
- Coordinate transformation
- Denavit-Hartenberg convention
Robot kinematics
- Direct kinematics
- Inverse kinematics
- Differential kinematics
- Inverse differential kinematics
- Parallel Kinematics
Robot dynamics
- Lagrange Formulation
- Newton-Euler Formulation
- Applications in Dynamics
Trajectory Planning
- Trajectory planning in operational space
- Trajectory planning in joint space
Supplementary Topics
- Brief introduction to ROS
- Brief introduction to the automated task planning