inf307 - Robotics (Complete module description) - Campusmanagementsystem Stud.IP

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31.01.2023 15:33:07

inf307 - Robotics (Complete module description)

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) > 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
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	once a year
Module capacity	unlimited
Modullevel / module level	AS (Akzentsetzung / Accentuation)
Modulart / typ of module
Lehr-/Lernform / Teaching/Learning method	V+Ü
Vorkenntnisse / Previous knowledge

Form of instruction	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