Module label |
Robotics |
Modulkürzel |
inf307 |
Credit points |
6.0 KP |
Workload |
180 h
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Institute directory |
Department of Computing Science |
Verwendbarkeit des Moduls |
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Master's Programme Computing Science (Master) > Interdisziplinäre Module
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Master's Programme Computing Science (Master) > Technische Informatik
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Master's Programme Engineering of Socio-Technical Systems (Master) > Embedded Brain Computer Interaction
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Master's Programme Engineering of Socio-Technical Systems (Master) > Human-Computer Interaction
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Master's Programme Engineering of Socio-Technical Systems (Master) > Systems Engineering
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Zuständige Personen |
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Hein, Andreas (module responsibility)
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Lehrenden, Die im Modul (Prüfungsberechtigt)
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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
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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
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Literaturempfehlungen |
essential: 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.
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Links |
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Languages of instruction |
German, English |
Duration (semesters) |
1 Semester |
Module frequency |
annual |
Module capacity |
unlimited |
Teaching/Learning method |
V+Ü |
Previous knowledge |
none |