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.