Foundations of Robotics (Robotics I)
| Professor | Prof. Dr. Andreas Zell |
| Office hours | Wednesday 13:30 - 15:00 |
| Lecture time | Tuesday 14:15 - 16:00 |
| Start | Tuesday 19.10.2021 |
| Location | Morgenstelle, lecture hall N4 |
| Stream | In parallel, the lecture is streamed (and recorded) via Zoom: https://zoom.us/j/93167948386?pwd=dUN6dTBJSVFDekZ0QnppSTlFM0Jydz09 Meeting-ID: 931 6794 8386 Code: 900380 |
| Credits | 6 LP |
| Cycle | yearly |
| Exam | Tuesday, 15.02.2022, at 14 o'clock in lecture hall N06 (Morgenstelle) |
| Alma-Portal | Foundations of Robotics |
Please join this lecture on ILIAS.
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 16:15 - 18:00 Uhr |
| Location | Morgenstelle, lecture hall N4 |
| Stream | In parallel, the session is streamed via Zoom: https://zoom.us/j/94406472613?pwd=ZnRPSEpvQ1BxbWhpeTJuR05xdndGUT09 |
| Issue of exercise sheets | each week via ILIAS |
| Submission of solved sheets: | as PDF via ILIAS, 1 week after |
| Return of graded sheets | via ILIAS, 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 ILIAS, 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.