Robot Programming and Control for Human Interaction
The lecture is recommended for master students which already had an introductory lecture in robotics. Terms like kinematics, Jacobians and basic dynamics notions are assumed to be known and are only very briefly revisited.
Organization
The lecture will start with 5 theoretical sessions and afterwards switch to block exercises of 3 hours per week.
There will be a doodle poll after the first lecture to assign exercise slots. We will offer exercises on two days with two slots on each, 9-12 and 13-16 o'clock.
Schedule:
| 24/04/19 | Lecture 1 |
| 05/01/19 | Holiday – no lecture |
| 05/08/19 | Fachschaftsvollversammlung – no lecture |
| 15/05/19 | Lecture 2 |
| 22/05/19 | Lecture 3 |
| 27/05/19 | Simulation 1 |
| 28/05/19 | Simulation 1 |
| 29/05/19 | Lecture 4 |
| 03/06/19 | Simulation 2 |
| 04/06/19 | Simulation 2 |
| 05/06/19 | Lecture 5 |
| 10/06/19 | Holiday – no exercises |
| 11/06/19 | Holiday – no exercises |
| 17/06/19 | Simulation 3 |
| 18/06/19 | Simulation 3 |
| 24/06/19 | Robot 1 |
| 25/06/19 | Robot 1 |
| 01/07/19 | Robot 2 |
| 02/07/19 | Robot 2 |
| 08/07/19 | Robot 3 |
| 09/07/19 | Robot 3 |
| 15/07/19 | Robot 4 |
| 16/07/19 | Robot 4 |
| 22/07/19 | Robot 5 |
| 23/07/19 | Robot 5 |
Location
The simulation exercises will be held in the FMI building, room 03.09.034.
The pracital session takes place in Garching-Hochbrück, Parkring 13, 2nd floor in the lab of Prof. Burschka/Prof. Knoll.
See Google Maps
Examination
The simulation part consists of exercises during the sessions and homework assigned to each student. Both, the session exercises and the homework have to be submitted and will then be corrected and rated.
At the end of the semester each exercise group has to give an oral presentation about contents of the simulation exercises (session and/or homework) and practical sessions.
The final grade is composed of the exercise and presentation grades. The practical part does not have rated exercises, but the general performance of a student may influence the final grade positively/negatively.
Literature
Task Level Decoupling Control:
O. Khatib, Lecture Notes:Advanced Robotic Manipulation
Passivity based control, adaptive control:
M. W. Spong, S. Hutchinson, M. Vydiasagar: Robot Modelling and Control, John Wiley & Sons, 2006
J. J. Slotine, W. Li: Applied Nonlinear Control, Prentice-Hall, 199
Modelling, parameters identification:
W. Khalil, E. Dombre: Modelling, Indentification & Control of Robots, Hermes Penton Ltd., 2002