Foundations of Robotics (Robotics I)
| Professor | Prof. Dr. Andreas Zell |
| Lecture time | Tuesday 12:15 - 14:00 |
| Start | Tuesday 18.10.2022 |
| Location | Hörsaal 1 F119 (Sand 6/7) and online |
| Zoom-Link | https://zoom.us/j/97455753178?pwd=VXJNQ3pEZ3ZsQnJKS0Qyem5XZHRQdz09 |
| Credits | 6 LP |
| Cycle | yearly |
| Exam | Most likely in the first week after the semester |
| Alma-Portal | Foundations of Robotics |
Please join this lecture on Moodle.
Description:
The Foundations of Robotics lecture covers the mathematical and technical foundations of robotics, in particular stationary robots (manipulators). Topics:
- Introduction, goals, and applications in robotics
- Coordinate systems and transformations
- Manipulator kinematics
- Inverse manipulator kinematics
- Velocities and accelerations (Jacobi matrix, inverse)
The follow-up lecture (Mobile Robots) in the summer semester will focus on mobile robots.
Requirements:
5th semester and above, primarily linear algebra from Mathematics I-III is required.
Literature:
Script A. Zell: Robotics I,
P.J. McKerrow: Introduction to Robotics, Addison-Wesley
Exercise sessions (Übungen)
| Tutors | Mario Laux, Yitong Quan, Jonas Tebbe |
| Date of the exercise sessions | Tuesday 14:15 - 16:00 Uhr |
| Location | Hörsaal 1 F119 (Sand 6/7) |
| Issue of exercise sheets | each week via Moodle |
| Submission of solved sheets: | as PDF via Moodle, 1 week after |
| Return of graded sheets | via Moodle, Solutions presented in the exercise sessions |
Remarks
- The exercises are to be handed in in teams of two.
- Please ask questions about the exercises to the supervisors through the forum in Moodle, so that all participants can benefit from it.
- Even if the tasks were solved using tools such as wxMaxima, source code alone is not accepted as a solution. The solution path and the final result must be clearly evident.