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Robotic Systems in Sports and Medical Technology (MGST-B-5-RSM-RSM-ILV)
Department
- Bachelor's program Medical, Health and Sports Engineering
Course unit code
- MGST-B-5-RSM-RSM-ILV
Level of course unit
- Bachelor
Year of study
- Fall 2024
Semester when the course unit is delivered
- 5
Number of ECTS credits allocated
- 5.0
Name of lecturer(s)
- Massow Benjamin, BSc MSc
Learning outcomes of the course unit
- The students
- know the different basics of serial robot systems.
- are able to identify arm parts (links) and joints of serial robot systems.
- are able to define joint types (rotational and translational).
- Are able to identify coordinate systems of a robotic system or a robotic application.
- are able to name common serial kinematics, their applications as well as advantages and disadvantages.
- know the theoretical basics for the description of kinematics.
- are able to apply different forms of representation of relative poses.
- are able to describe common serial kinematics mathematically.
- are able to calculate forward kinematics and backward kinematics.
- are able to create trajectories in Cartesian space and joint space and implement this in software algorithms.
Recommended optional program components
- keine
Course contents
- - Robot systems
o Arm parts (links) and joints (joints) of serial robot systems
o Types of joints (rotational and translational)
o Coordinate systems of a robot system or robot-supported application
o Serial kinematics, their applications and advantages and disadvantages (Articulated Manipulator (RRR), Spherical Manipulator (RRP), SCARA Manipulator (RRP), Cylindri-cal Manipulator (RPP), Cartesian Manipulator (PPP))
- Relative poses (position and orientation) of coordinate systems
- Mathematical description of kinematics
- Trajectories of kinematics
- Real-offline programming of robot systems
o Creating a virtual controller
o Creating routines, subroutines, instructions, and functions
o Control structures
o Human-machine interfaces
o Digital and analogue inputs and outputs
- Planning and implementation of a robot-supported application
o Definition of components
o Definition of the coordinate systems
o Kinematic descriptions
o Real-offline programming of the application
o Implementation of the application on real hardware
o Optimisation in software algorithms
Recommended or required reading
- - P. Corke, Robotics, Vision and Control: Fundamental Algorithms in MATLAB, 2nd Edition, Berlin: Springer-Verlag, 2017
- M. W. Spong, S. Hutchinson, M. Vidyasagar: Robot Modeling and Control, 1st Edition, New York: Wiley, 2006
- J.J. Craig: Introduction to Robotics: Mechanics and Control, 4th Edition, London: Pearson, 2017
- B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo: Robotics: Model-ling, Planning and Control, 1st Edition, London: Springer-Verlag, 2009
- B. Siciliano, O. Khatib: Springer Handbook of Robotics, 2nd Edi-tion, Berlin: Springer-Verlag, 2016
Planned learning activities and teaching methods
- In der Lehrveranstaltung werden verschiedenste Lehr- und Lernformen (Vortrag, Einzel- und Gruppenarbeit, Diskussion, etc.) auf interaktive Art und Weise verknüpft.
Language of instruction
- English
Work placement(s)
- keine