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Logo: Institute of Automatic Control
Logo Leibniz Universität Hannover
Logo: Institute of Automatic Control
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Robotics I

Organizational Facts

  • Semester: Summer semester
  • Lecturer: Dr.-Ing. Torsten Lilge
  • Weekly hours:  Lecture 2 + Tutorial 1 + Lab 1, 5 CP
  • Lecture: Monday 09:30 - 11:00, building 3703, room 023
  • Tutorial: Thursday, 11:15 - 12:00, building 3403, room A003
  • Documents, dates, contact persons and other organizational facts can be found on Stud.IP
  • Information on examinations can be found on our page with information regarding IRT examinations

This lecture is given in each semester by alternating lecturers but with identical contents. In the winter semester it is given by Prof. Ortmaier at imes and in the summer semester by Dr.-Ing. T. Lilge at IRT.

Contents

  • Direct and inverse kinematics
  • Coordinate and homogeneous transformations
  • Denavit-Hartenberg-Notation
  • Jacobi-Matrices
  • Kinematically redundant mechanisms
  • Trajectory planning
  • Dynamics
  • Newton-Euler and Lagrange methods
  • Control
  • Interaction control
  • Sensors