inf307 - Robotics (Complete module description)

inf307 - Robotics (Complete module description)

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Module label Robotics
Modulkürzel inf307
Credit points 6.0 KP
Workload 180 h
Institute directory Department of Computing Science
Verwendbarkeit des Moduls
  • Master's Programme Computing Science (Master) > Interdisziplinäre Module
  • Master's Programme Computing Science (Master) > Technische Informatik
  • Master's Programme Engineering of Socio-Technical Systems (Master) > Embedded Brain Computer Interaction
  • Master's Programme Engineering of Socio-Technical Systems (Master) > Human-Computer Interaction
  • Master's Programme Engineering of Socio-Technical Systems (Master) > Systems Engineering
Zuständige Personen
  • Hein, Andreas (module responsibility)
  • Lehrenden, Die im Modul (Prüfungsberechtigt)
Prerequisites

No participant 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
Literaturempfehlungen

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 annual
Module capacity unlimited
Teaching/Learning method V+Ü
Previous knowledge keine
Lehrveranstaltungsform Comment SWS Frequency Workload of compulsory attendance
Lecture 3 SoSe 42
Exercises 1 SoSe 14
Präsenzzeit Modul insgesamt 56 h
Examination Prüfungszeiten Type of examination
Final exam of module

At the end of the lecture periode

Portfolio: Hands-on exercises, report, and written or oral exam