The students are able to understand the main concepts of modelling of robotic systems, in particular industrial robotic systems.
They are able to apply corresponding mathematical methods.
The students are able to understand the main concepts of robotic control. They are able to design controllers for different robotic systems and evaluate different methods. They are familiar with the corresponding mathematical descriptions and methods.

None

The module covers the following topics/contents:

• Properties of robot dynamics
• Differential kinematics
• Dynamic analysis
• Introduction to robot control
• Mathematical methods in Robotics (e.g. Differential Geometry)
• Computed torque control method
• Feedback Linearization
• Robust control of robots
• Selected topics: Adaptive, Force control, control of mobile robots

The following literature is recommended as an example:

• J. J. Craig, Introduction to Robotics, Mechanics and Control, 3rd ed., Pearson, 2005
• T. Bajd, M. Mihelj, M. Munih, Introduction to Robotics, Springer, 2012
• B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotics, Modelling, Planning and Control, Springer, 2010
• T. Bajd, M. Mihelj, J. Lenarcic, A. Stanovnik, M. Munih, Robotics, Springer, 2010
• B. Siciliano, O. Khatib, Springer Handbook of Robotics, Springer, 2016
• M. W. Spong, S. Hutchinson, M. Vidyasagar, Robot Modeling and Control, 2nd ed. Wiley, 2020

Lecture with integrated calculation exercises, exercises in class and independent exercises with MATLAB/Simulink

Integrated module examination
Immanent examination character: Active participation in class, protocols for MATLAB/Simulink exercises, homework, written or oral examination