| Veranstalter | Dr. Emmanuel Dean?  and M.Sc. Caixia Cai | 
		
			| Modul | IN2106 | 
		
			| Typ | Masterpraktikum | 
		
			| Semester | SS 2013 | 
		
			| ECTS | 10.0 | 
		
			| SWS | 6 | 
		
			| Time & Place | Thursdays, at 14:00 in room 01.07.023  (starting 18. April. 2013) | 
		
			| Certificate | successful completion of all exercises and final project | 
		
			| Registration | By email to one of the organizers. Confirmation via TUMonline | 
	
 Course Materials 
 NOTICE:   Please take a look on the date and time for the Praktikum. 
 Please send your exercises to praktikum.rmc.2012@gmail.com  with the filename: exercises_sessionNumber_yourname. 
If you have questions, please send an e-mail to Dr. 
Emmanuel Dean?  or M.Sc. 
Caixia Cai.  
      
 Contents of the Lab Course 
 
-  Introduction to Robot Modelling (Kinematic and Dynamic modelling)
-  DenavitHartenberg methodology to describe robot joint frames, position and velocity
-  Robot Dynamics based on Euler-Lagrange
-  Non-linear control for robots (Lyaponov based) 
-  Model free control
-  Model based control (robot regressor approach)
-  Impedance control (optional)
 
-  Introduction to our Robot Modelling Toolbox using Matlab
 General Information 
 
-  The course will be held in English language. The materials will also be in English.
-  The number of possible participants is 12.
 Prerequisites for the Praktikum 
 
-  Strong Mathematical background in Linear Algebra, Trigonometry and Calculus
-  Basic knowledge in robotics (preferred)
-  All the exercises will be implemented on ubuntu, please bring your laptop installed with ubuntu (>=11.04)
-  Matlab (preferably installed on a laptop)
 Literature 
- 
[Corke11]
- 
Peter Corke.
 Robotics, Vision and Control - Fundamental Algorithms in
  MATLABè, volume 73 of Springer Tracts in Advanced Robotics.
 Springer, 2011.
- 
[SpongEtal06]
- 
M.W. Spong, S. Hutchinson, and M. Vidyasagar.
 Robot modeling and control.
 John Wiley & Sons, 2006.
[ http ]
- 
[Craig05]
- 
J.J. Craig.
 Introduction to robotics: mechanics and control.
 Addison-Wesley series in electrical and computer engineering: control
  engineering. Pearson/Prentice Hall, 2005.
[ http ]