Veranstalter	Dr. Emmanuel Dean? and M.Sc. Caixia Cai
Modul	IN2106
Typ	Masterpraktikum
Semester	SS 2013
ECTS	10.0
SWS	6
Time & Place	Thursdays, at 14:00 in room 01.07.023 (starting 18. April. 2013)
Certificate	successful completion of all exercises and final project
Registration	By email to one of the organizers. Confirmation via TUMonline

Course Materials

Session	Date	Room	Topics	Materials	Exercises Solution
Session 1	18.04.2013	01.07.23	Spatial description (Coordinate Frames)	Session1.zip	Session1_solution.zip
Session 2	02.05.2013	01.07.23	Forward Kinematics (D-H convention)	Session2.zip	Session2_solution.zip
Session 3	16.05.2013	01.07.23	Differential Kinematics (Jacobians)	Session3.zip	Session3_solution.zip
Session 4	23.05.2013	01.07.23	Dynamics 1 (Direct Euler-Lagrange Method)	Session4.zip
Session 5	06.06.2013	01.07.23	Dynamics 2 (Iterative Euler-Lagange method using DH, Robot Regressor)	Session5.zip	Session5_solution.zip
Session	13.06.2013	01.07.23	Lecture Spatial Vectors and Robot Dynamics (Dr. Roy Featherstone)
Session 6	20.06.2013	01.07.23	Control 1 PD and PID Control (Regressor-based) using Passivity Analysis	Session6.zip
Session 7	27.06.2013	01.07.23	Final project	FinalProject.zip
Session 8	04.07.2013	01.07.23	Final project
Session 9	11.07.2013	01.07.23	Final project
Session 10	18.07.2013	01.07.23	Control 2

If you have questions, please send an e-mail to Dr. Emmanuel Dean? or M.Sc. Caixia Cai.

Contents of the Lab Course

Introduction to Robot Modelling (Kinematic and Dynamic modelling)
DenavitHartenberg methodology to describe robot joint frames, position and velocity
Robot Dynamics based on Euler-Lagrange
Non-linear control for robots (Lyaponov based)
- Model free control
- Model based control (robot regressor approach)
- Impedance control (optional)
Introduction to our Robot Modelling Toolbox using Matlab

The course will be held in English language. The materials will also be in English.
The number of possible participants is 12.

Strong Mathematical background in Linear Algebra, Trigonometry and Calculus
Basic knowledge in robotics (preferred)
All the exercises will be implemented on ubuntu, please bring your laptop installed with ubuntu (>=11.04)
Matlab (preferably installed on a laptop)

[Corke11]: Peter Corke. Robotics, Vision and Control - Fundamental Algorithms in MATLABè, volume 73 of Springer Tracts in Advanced Robotics. Springer, 2011.
[SpongEtal06]: M.W. Spong, S. Hutchinson, and M. Vidyasagar. Robot modeling and control. John Wiley & Sons, 2006. [ http ]
[Craig05]: J.J. Craig. Introduction to robotics: mechanics and control. Addison-Wesley series in electrical and computer engineering: control engineering. Pearson/Prentice Hall, 2005. [ http ]