Robot Modelling and Identification Lab
| Lecturer (assistant) | |
|---|---|
| Number | 0000004968 |
| Type | practical training |
| Duration | 5 SWS |
| Term | Summer semester 2025 |
| Language of instruction | English |
| Position within curricula | See TUMonline |
Admission information
Description
This laboratory deals with different mechatronic basic concepts of robotics with the focus on modelling, simulation and control using the numerical software Matlab/Simulink and the computer algebra system Maple.
The laboratory comprises the modeling and control of a permanently excited DC motor and a pneumatic actuator, the time-discrete control of a DC motor, the controller design of an electric drive in the frequency domain, the identification of a robot joint, a controller and observer design for a robot joint, an impedance control for a robot joint, a force controller and collision observer, the dynamic/kinematic modeling of a serial robot kinematics as well as its identification and trajectory optimization.
The laboratory comprises the modeling and control of a permanently excited DC motor and a pneumatic actuator, the time-discrete control of a DC motor, the controller design of an electric drive in the frequency domain, the identification of a robot joint, a controller and observer design for a robot joint, an impedance control for a robot joint, a force controller and collision observer, the dynamic/kinematic modeling of a serial robot kinematics as well as its identification and trajectory optimization.
Prerequisites
Students should have sound knowledge in the following fields:
- Automatic control
- Mechanics and multi-body systems
- Electrical drive technology
- Robotics
- Automatic control
- Mechanics and multi-body systems
- Electrical drive technology
- Robotics
Teaching and learning methods
- Preparation of theoretical basics Based on literature and scripts
- Discussion of the theory in the oral exam interview
- Practical realization and implementation of the exercises during the supervised laboratory times
- Discussion of the theory in the oral exam interview
- Practical realization and implementation of the exercises during the supervised laboratory times