Robotics

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 SS 2012

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

available module versions
WS 2015/6SS 2012

Basic Information

IN2067 is a semester module in English language at Bachelor’s level und 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

Content

The course covers: coordinate transforms, Newton-Euler and Lagrange analysis of mechanical systems, trajectory generation for a PID controller, and control laws for force and position control using control law partitioning.

Learning Outcome

The goal of the course is to let the participants understand the theoretical derivation of the manipulator response to torques provided in the actuators and to understand how different control laws help to compensate model parameters and unexpected disturbance forces acting on the system. The goal is to be able to derive the control parameters from the mechanical model of the system. This course together with IN2138 (Bewegungsplanung in der Robotik) explains how a pre-planned trajectory for a manipulator is implemented on a real kinematic structure of the manipulator.

Preconditions

gute Kenntnisse in Vektoranalysis und Differentialgleichungen

Courses, Learning and Teaching Methods and Literature

Courses and Schedule

ArtSWSTitelDozent(en)Termine
VU 5 Robotics (IN2067) Dienstag, 08:00–10:00
Freitag, 08:00–11:00

Learning and Teaching Methods

Lecture, exercise course and problem sets for individual study.

Media

Blackboard, slides, videos and online examples

Literature

John J. Craig. “Introduction to Robotics, Mechanics and Control” (3rd Edition) Prentice Hall, 2005.

Module Exam

Description of exams and course work

In a written 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

There is a possibility to take the exam at the end of the semester.

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