Stud.IP Uni Oldenburg
University of Oldenburg
23.10.2019 14:48:02
inf307 - Robotics (Complete module description)
Original version English Download as PDF
Module label Robotics
Module code inf307
Credit points 6.0 KP
Workload 180 h
Faculty/Institute Department of Computing Science
Used in course of study
  • Master's Programme Computing Science (Master) >
  • Master's Programme Computing Science (Master) >
  • Master's Programme Embedded Systems and Microrobotics (Master) >
  • Master's Programme Engineering of Socio-Technical Systems (Master) >
  • Master's Programme Engineering of Socio-Technical Systems (Master) >
  • Master's Programme Engineering of Socio-Technical Systems (Master) >
Contact person
Module responsibility
Authorized examiners
Entry requirements
Skills to be acquired in this module
Professional competence
The students:
  • Name and know the functions and applications of robot systems
  • Characterise the basic concepts to program robot systems
  • Differentiate between the interaction of mechanical, electrical and software components

Methodological competence
The students:
  • Define characteristics and components of robot systems for a specific application
  • Design and implement robot system sub-components
  • Design and parameterise simple control structures
  • Plan the application of robot systems and derive the requirements
  • Model electrical and mechanical systems
  • Develop and realise simple robot systems

Social competence
The students:
  • Solve robot systems problems in team work

Self-competence
The students:
  • Reflect their solutions in reference to robot system methods
Module contents
  • Integration in production plants / aims / subsystems
  • Architectures / classifications (classification of robots)
  • Robot components + Computer systems for programming
    • PA-10
    • Lego Mindstorms
  • Basics of kinematics
    • Coordinate transformation, homogeneous coordinates, Coordinate transitions
    • Kinematic equation systems, transformation of vectors
  • Kinematic
    • Joint types (manipulators) / Wheels, TCP
    • Denavit-Hartenberg-Transformation
    • Forward calculation
    • Backward calculation
  • Sensors
    • General properties of sensors, parameter
    • Simple optical position sensors
    • Inductive-, capacitive- und ultrasonic-sensors
    • Distance sensors (laser scanner, triangulation sensors)
    • Force sensors
    • Sensor data preparation
  • Planing / Regulation
    • Overall regulation approach, terms, process- and control functions, PID-controller
    • Planning concepts and approaches (On-Line, Off-Line), planning processes, construction and path planning
  • Actuators
Reader's advisory
essential:
lecture nodes

recommended:
Lüth, T.: Technische Multi-Agenten-Syteme. Hanser-Verlag, 1998.
Siegert, H.-J.; Bocionek, S.: Programmierung intelligenter Roboter. Springer Verlag, 1996.
Craig, J.J.: Introduction to Robotics: Mechanics and Control. Prentice Hall, 1989.
Juckenack, D.: Handbuch der Sensortechnik: Messen mechanischer Größen. Verlag moderne Industrie, Landsberg/Lech, 1989.
Jiang, X.; Bunke, H.: Dreidimensionales Computersehen (Gewinnung und Analyse von Tiefenbildern), Springer Verlag, 1997.

sekondary literature:
Hommel, G.; Heiß, H.: Roboterkinematik. Bericht 1990-15 an der TU-Berlin.
Muir, P.F.; Neuman, C.P.: Kinematic Modeling of Wheeled Mobile Robots. Journal of Robotic Sytemes, 4(2) 281-340, 1987.
Links
Languages of instruction German, English
Duration (semesters) 1 Semester
Module frequency once a year
Module capacity unlimited
Modullevel AS (Akzentsetzung / Accentuation)
Modulart Pflicht o. Wahlpflicht / compulsory or optioal
Lern-/Lehrform / Type of program V+Ü
Vorkenntnisse / Previous knowledge
Course type Comment SWS Frequency Workload attendance
Lecture 3.00 SuSe 42 h
Exercises 1.00 SuSe 14 h
Total time of attendance for the module 56 h
Examination Time of examination Type of examination
Final exam of module
At the end of the lecture periode
Portfolio: Hands-on exercises, report, and written or oral exam