112.015 Geometric Kinematics
This course is in all assigned curricula part of the STEOP.
This course is in at least 1 assigned curriculum part of the STEOP.

2022W, VU, 2.0h, 3.0EC

Properties

  • Semester hours: 2.0
  • Credits: 3.0
  • Type: VU Lecture and Exercise
  • Format: Presence

Learning outcomes

After successful completion of the course, students are able to describe and analyse spatial motions by fundamental methods of spatial kinematiks and to apply them in the field of serial and parallel robotics.

Subject of course

Orthogonal matrices, quaternions, Euler parameters, dual quaternions, Study parameters, spear coordinates, the instantaneous screw, the linear complex of normals, relative motions, Denavit-Hartenberg parameters, forward and inverse kinematics of serial and parallel manipulators and their Jacobian matrices.

Teaching methods

Presentation and discussion of relevant content. Computation of exercise examples.

Mode of examination

Immanent

Lecturers

Institute

Course dates

DayTimeDateLocationDescription
Tue15:00 - 18:3004.10.2022 CAD2 (Freihaus, grüner Turm, 7.Stock)VU Termin
Tue15:30 - 19:0011.10.2022 - 18.10.2022 Sem.R. DA grün 06BVU Termin
Tue15:00 - 18:3025.10.2022 - 29.11.2022 Zeichensaal3 (Freihaus, grüner Turm, 7.Stock)VU Termin
Tue15:00 - 18:3006.12.2022 Zeichensaal3 (Freihaus, grüner Turm, 7.Stock)Ersatztermin
Geometric Kinematics - Single appointments
DayDateTimeLocationDescription
Tue04.10.202215:00 - 18:30 CAD2 (Freihaus, grüner Turm, 7.Stock)VU Termin
Tue11.10.202215:30 - 19:00 Sem.R. DA grün 06BVU Termin
Tue18.10.202215:30 - 19:00 Sem.R. DA grün 06BVU Termin
Tue25.10.202215:00 - 18:30 Zeichensaal3 (Freihaus, grüner Turm, 7.Stock)VU Termin
Tue08.11.202215:00 - 18:30 Zeichensaal3 (Freihaus, grüner Turm, 7.Stock)VU Termin
Tue22.11.202215:00 - 18:30 Zeichensaal3 (Freihaus, grüner Turm, 7.Stock)VU Termin
Tue29.11.202215:00 - 18:30 Zeichensaal3 (Freihaus, grüner Turm, 7.Stock)VU Termin
Tue06.12.202215:00 - 18:30 Zeichensaal3 (Freihaus, grüner Turm, 7.Stock)Ersatztermin

Examination modalities

Exercise examples and an oral exam.

Course registration

Begin End Deregistration end
31.08.2022 12:00 30.09.2022 23:59 30.09.2022 23:59

Curricula

Study CodeSemesterPrecon.Info
700 Mechanical Engineering

Literature

Es wird ein Skriptum angeboten.

Language

German