| Inhalt: | • Throughout lecture: Applications and examples from construction
• Introduction (Definition of robots, Types of robots, Different classifications, Mechanical structure and components of robot systems, Joints, Degrees of freedom, Workspaces)
• Current state of the art in the construction industry with regard to automation and digitization, Technical possibilities of construction robots, Construction robotics research topics and latest technologies, Construction-related challenges, Limits, BIM)
• Robot end-effector technology (Types and function of different end-effector technologies)
• Representation of position and orientation (Rotation matrix, Euler angles, Axis and angle, Unit quaternion)
• Robot Manipulators
• Kinematics (Coordinate systems, Homogeneous transformations, Denavit-Hartenberg parameterization, Inverse kinematics, Kinematic singularities)
• Differential kinematics (Analytical and geometric Jacobian, Singularities, Redundancies, Inverse differentiel kinematics)
• Trajectory generation (Joint space and Task space trajectories, Polynomials, Splines, S-Curves, Optimization-based trajectories, Filters)
• Dynamics (Direct and inverse dynamics, Modeling, Lagrange formulation, Newton-Euler formulation)
• Motion control (PD control with gravity compensation, Robust and adaptive control)
• Automatic control (Compliance and impedance control, Force control, Constrained motion, Hybrid force/motion control)
• Reinforcement learning (insertion tasks)
• Glossary: Stability, etc. |
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