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249963156 20W 4SWS VI Introduction to Robot Control   Hilfe Logo

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Introduction to Robot Control 
249963156
lecture with integrated exercises
4
Winter semester 2020/21
Chair of Information-oriented Control (Prof. Hirche)
(Contact information)
Details
Allocations: 1 
Angaben zur Abhaltung
- Robot manipulators and vehicles
- Spatial object representation and transformations
- Programming of action plans
- Kinematic models of manipulators and robot vehicles (direct kinematics, inverse kinematics, differential kinematics, Jacobians, redundancy and singularity, kineto-static duality)
- Kinematic path/trajectory planning and execution in joint and task space
- Modeling of system dynamics (Lagrangian model and recursive Newton-Euler formulation, direct and inverse dynamics)
- Manipulator control methods (position, impedance, force, hybrid control, task vs. joint space control, decentralized vs. centralized control, computed torque)
- Exercises and applications
- Practical laboratory experiments
Fundamentals of control engineering
The lecture imparts understanding for the principles in robotics engineering. Close-to-application exercises and practical laboratory experiments help to develop skills in applying these methods to real-world systems.
  • German
  • English

Lectures will be held ex cathedra. In exercieses and tutorial courses, repeated calculations and problem solving will help develop deeper understanding for the matter. Practical implementations are tought in the laboratory experiments.

In WS2019/20 lecture will be in German and tutorials in English.
Details
Für die Anmeldung zur Teilnahme müssen Sie sich in TUMonline als Studierende*r identifizieren.
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Lecture notes
Online information
e-learning course (moodle)
Former title: Fundamentals of Intelligent Robots