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Module IN2067

This Module is offered by TUM Department of Informatics.

This module handbook serves to describe contents, learning outcome, methods and examination type as well as linking to current dates for courses and module examination in the respective sections.

Module version of WS 2015/6 (current)

There are historic module descriptions of this module. A module description is valid until replaced by a newer one.

Whether the module’s courses are offered during a specific semester is listed in the section Courses, Learning and Teaching Methods and Literature below.

available module versions
WS 2015/6SS 2012

Basic Information

IN2067 is a semester module in English language at Master’s level which is offered in winter semester.

This Module is included in the following catalogues within the study programs in physics.

  • Catalogue of non-physics elective courses
Total workloadContact hoursCredits (ECTS)
180 h 75 h 6 CP

Content, Learning Outcome and Preconditions


The module discusses the control of a manipulator in order to follow a pre-planned trajectory. The aim of the modul is a mathematical modeling of a manipulator using a force-moment analysis (Newton-Euler approach) or an energy analysis (Lagrange). From this, the control parameters of a PID system are calculated from the analysis of the previously created model in order to build up a position and force controller.

The lecture covers the following areas
- Coordinate Systems (Denavit-Hartenberg)
- Forwards kinematics
- Inverse kinematics
- Newton-Euler / Lagrange analysis
- Dynamic modeling of the manipulator
- PID control of position and force

Learning Outcome

The participants are able to convert a mechanical manipulator system into a mathematical model, which transforms the input force parameters into dynamic motion data. They are also able to calculate the control parameters of such a system. This module is part of the complete set together with the module “Robot Motion Planning” (IN2138), where the planning of trajectories is discussed. Both together teach how a pre-planned trajectory for a manipulator is implemented on a real kinematic structure of the manipulator. However, it is not necessary to attend both modules.


- Vector algebra
- Differential calculus
- Basic knowledge of physics (Newton's Law, etc.)

Courses, Learning and Teaching Methods and Literature

Courses and Schedule

VI 5 Robotics (IN2067) Burschka, D. Tue, 09:00–12:00, Interims I 101
Mon, 14:00–16:00, Interims II 004

Learning and Teaching Methods

Lecture, exercise course and problem sets for individual study.

The lecture is accompanied by a 2-hour exercise, where contents of the lecture are discussed with real examples. The assessment is determined from a 90-minute exam at the end of the semester. Attendance in the exercises is strongly recommended


Blackboard, slides, videos and online examples


Introduction to Robotics Mechanics and Control John
J, Craig, Prentice Hall. ISBN 0-13-123629-6

Module Exam

Description of exams and course work

In a written 90 minutes exam the participants have to find a mathematical model of a kinematic chain of a given manipulator, estimate the relation between the necessary forces and torques in the actuator and the dynamic state of the robot, and design a stable PID controller for an exemplary task described in the problem.

Exam Repetition

The exam may be repeated at the end of the semester.

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