Students are able to understand the most important concepts and the modelling of robot systems, especially industrial robot and service robot systems. A focus is set on kinematic descriptions that allow students to mathematically model arbitrary kinematic chains and general robotic systems.
Students are able to apply appropriate mathematical methods to simulate robots' behavior.
They know the relevant parameters that can be used to modify robot systems for optimal performance in a given application. In general, optimization methods are discussed and applied, e.g. to resolve redundancies in robot systems.

None

The module covers the following topics/content:

• Fundamental concepts of robotics
• Geometric and kinematic modelling
• Path and trajectory planning
• Differential kinematics
• Jacobian and singularity analysis
• Redundancy resolution

The following literature is recommended as an example:

• B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotics, Modelling, Planning and Control, Springer, 2010
• J. J. Craig, Introduction to Robotics, Mechanics and Control, 3rd ed., Pearson, 2005

Lecture with integrated calculation exercises,
exercises with mathematical software (e.g. MATLAB).

Integrated module examination
Immanent examination character: Active participation in class, homework, written or oral examination