inf307 - Robotics (Complete module description)

No participant requirements

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

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

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.

At the end of the lecture periode

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