Content

This lecture treats the industrial robot as a mechatronic system, in which mechanics, actuators, sensors, electronics and control software work together. Starting from its components, it builds up the theory needed to model, move and control a robot, and links each step to industrial practice.

• Robots as mechatronic systems: structure, kinematic types and degrees of freedom
• Drives, transmissions and sensors (electric drives, gears, encoders)
• Coordinate transformations and kinematics (forward and inverse kinematics, Denavit–Hartenberg parameters, Jacobian matrix)
• Robot dynamics (Newton–Euler and Euler–Lagrange methods, the manipulator equation)
• Robot motion: path and trajectory planning (PTP, LIN and CIRC motion, motion profiles, via points and blending)
• Robot control: motion control (joint and Cartesian control, computed torque) and interaction control (impedance, admittance, hybrid force/motion control)

Lecturer: Prof. Martin Ruskowski

Supervisor: M.Sc. Khalil Abuibaid

Further information, in particular information relevant to exams and, if necessary, changes to lecture and exercise dates, are communicated via OLAT. The code to OLAT will be provided in the first lecture.