Content

Part 1: Description of serial robotic systems

This part includes the basic components like different types of joints, sensors and actors.Exemplarily, the differing kinematic types are introduced. Also, the mathematical backgrounds are presented, necessary for the description of robots. The direct and inverse kinematics for typical 6-jointed industrial robots is explained.

Part 2: Parallel robot systems

This part deals with the transfer of the results and mathematical models of part 1 onto robotic systems with parallel kinematics.

Part 3: Movement

Robot movements along trajectories/geometric paths are analyzed. Different techniques of path planning are presented as well as methods to determine the configuration space and to perform velocity planning and kinematics.

Part 4: Robot Control

Techniques of control theory and examples of programming techniques in robotics are introduced. Sensor and systems calibration as a typical application of robotics is explained in detail.

Qualification-goals / Competencies

• Solve application-oriented exercises with mathematical background self-dependent, timely and in team work.
• Gained basic understanding for the kinematic features of serial and simple parallel robots (includes knowledge of transformations, Euler-/Tail-Bryan-Angles, quaternions, etc.)
• Made first experiences with the programming of simple robotic applications.
• Understanding the complexity and necessity for different path and dynamic planning techniques
• Gained an insight into simple methods for system and sensor calibration.