Department of Computer Science Technische Universitaet Muenchen
Home People Teaching Research Publications Info Sitemap
Lehrveranstaltungen | Studentische Projekte | Oberseminar | Doktorandenseminar

       

Controlling Robot Manipulators

Practical Course: Winter semester 2008/2009


Tutors

Subject of the Course

This course will deal with the practical aspects of controlling a robotic manipulator, starting with the necessary background knowledge and finally leading into a three week project with experiments using our kitchen robot. Homework exercises are handed out every week.

Credits (ECTS): 10 (6+0 SWS) (The course belongs to "Praktische Informatik")

Time: Tuesdays 13:05-15:00
First appointment : 21.10.2008 in room MI 02.09.023

Our robot

For the experiments, we have a modern two-armed robot. It has two 6-DOF manipulators from Amtec Robotics. It is possible to send commands and receive status information from the arms every 8mS through a 1Mbit/s CAN bus.

Interaction with the robot is possible using an open-source driver under the Player/Stage architecture.

A detailed model of the robot is available in the Gazebo, where it is possible to test the control programs before running them on the real robot.

All the necessary software will be installed in our computer lab, and we will also assist those who wish to install it on their laptops or home computers.

Topics

  • Robot hardware: Components, typical configurations, characteristics, degrees of freedom.
  • Robot kinematics: vectors in space, frames of reference, rotation and translation, coordinate systems.
  • The Denavit-Hartenberg parameters.
  • Forward and inverse kinematics.
  • Trajetory Planning: In joint space and cartesian space.
  • Novel control methods: impedance control.

Previous Knowledge

  • Basic Programming experience in C/C++ or Python is helpful.

Registration

Registrations will be accepted from now on. Just write an email to roboterpraktikum@cs.tum.edu.

Language

The practical course will be held in English and German. International students are welcome.


Computer Science IX | Technische Universität München