After successful completion of the course, students are able to

• describe and classify robotic systems and general rigid-body systems,
• model and simulate the kinematics and dynamics of rigid-body systems,
• perform simple trajectory planning for a robot in joint space and task space,
• apply fundamental control concepts for robots,
• utilize modern computer algebra (Maple) and numeric (MATLAB/Simulink) software to model, simulate and analyze dynamical systems, and
• apply linear control design methods (loop-shaping, pole placement) to such systems.

Lecture in winter term:

• Fundamentals of robotics: Degrees of freedom, kinematic spaces, control structures
• Robot kinematics: Forward and inverse kinematics, forward and inverse differential kinematics, manipulator Jacobian, kinematic and representation singularities
• Trajectory planning: Paths and trajectories, straight paths, time parametrization, trajectories with via points
• Robot control: fundamental control concepts for robots in joint space and task space, control of industrial robots

Lab exercises in summer term:

• System analysis using Maple: Introduction to the computer algebra software Maple, mathematical modelling of rigid-body and nonlinear systems
• System analysis using MATLAB/Simulink: Introduction to MATLAB/Simulink, simulation of rigid-body systems, application of the methods from the lecture Automation to specific simulation examples as well as laboratory experiments
• Modelling and simulation of a robot: Application of the theory for robot kinematics and dynamics to a 3-axis robot, analysis of singularities
• Control of a robot: Application of the theory for robot control to a industrial 6-axis robot, comparison of fundamental control concepts

Lecture (attendance in the lecture hall), lab course (attendance in the laboratory), preparation of problems prior to the lab courses, independent solution of advanced examples during the lab course, implementation of the designed controllers and observers on lab experiments, discussion of the theoretic foundation during the lab course

• The presentation of this course takes place on October 10^th, 2022 at 10:00 am in the EI 2 Pichelmayer HS.
• In the winter term, a lecture (2 hours) in Selected Topics - Automation and Control is given. The lecture starts approximately at midterm (see section "course dates") and will held with attendance in the lecture hall.
• In the subsequent summer term, the theoretical knowledge in the field of modeling, simulation, identification, controller and observer design obtained from the lectures Automation, Mathematical Modelling and Selected Topics - Automation and Control will be applied to specific laboratory experiments. For this, also an introduction to the standard software tools of automatic control (MATLAB/Simulink, Maple) will be given. General information regarding the course will be provided in the last lecture in the winter term. Moreover, groups will be formed in this lecture. The dates and the format (laboratory or online) will be announced as early as possible.
• The TUWEL course is the basis lab courses. All necessary information and the group assignments will be provided there. 

The examination consists of the following points:

1. review of the prepared exercises and
2. participation during the course.

Registration is required due to organizational purposes. In addition, attendance of the first lecture is compulsory since important issues concerning content and organization will be discussed.

Lecture notes for this course and the exercise are available on the website of the institute and in the TUWEL course.