Fachhochschule Köln Cologne University of Applied Sciences

Master of Eng. in Automation & IT

Deutsch Englisch

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Automation & IT   Course   Modules   Robotics

Advanced Robotics

Qualification aims

Students will be taught the basic methods and technologies of robotics with the emphasis on theoretical aspects of kinematics, dynamics, programming and planning. The students should be able to solve the problems of applying the methods to develop, select and use industrial and service robots.
In the field of industrial robots the main aspects are planning of robot moves and robot control, the mathematical basis of these fields will be taught and applied by practical exercises.
The second part includes teaching the theoretical and practical knowledge of tools and methods for task oriented programming and software based planning of robot moves and execution of robot tasks. Students will be enabled to comprehend methodological principles and first practical applications of autonomous robots and service robots.

Courses

The module consists of 2 courses:

Principles of control, kinematics and dynamics of industrial robots

Contents

• Introduction, history and robot device basics
• Control and programming of industrial robot
• Teach-in and textual programming of industrial robots
• Geometrical operations
• Homogenous transformations
• Kinematical description of robots
• Forward transformation and inverse coordinate transformation
• Inverse model and movement mathematics
• Robot dynamics

Programming, simulation and planning in robotics

Contents

• Robot programming and simulation systems
• Robot programming concepts
• Programming languages for industrial robots
• World modelling and task-oriented programming
• Planning and simulation of production and assembly processes using robots
• Soft computing and robotics
• Collision avoidance methods
• Sensor systems for robots
• Autonomous robot design
• Navigation and path planning
• Applications of autonomous service robots

Bibliography

• Warnecke, H.-J., Schraft, R.D.: Industrieroboter, various editions, 1973 - 2002
• Blume, C., Jakob, W., Favaro, J.: PasRo – Pascal and C for Robots, Springer-Verlag Berlin Heidelberg, 1985, 1987
• Blume, C., Jakob, W.: Programming Languages for Industrial Robots, Springer-Verlag Berlin Heidelberg, 191986
• Siegert, H.-J., Bocionek, S.: Robotik: Programmierung intelligenter Roboter, Springer Verlag Berlin Heidelberg, 1996
• Kugelmann, D.: Aufgabenorientierte Offline-Programmierung von Industrierobotern, Herbert Utz Verlag Munich, 1999
• Rieseler, H.: Roboterkinematik – Grundlagen, Invertierung und symbolische Berechnung, Vieweg Verlag Brunswick Wiesbaden, 1992
• Weber, W.: Industrieroboter, Carl Hanser Verlag Munich Vienna 2002
• McCloy, D., Harris, D.M.J: Robotertechnik, VCH Verlagsgesellschaft mbH Weinheim, 1989
• Hesse, S.: Industrieroboterpraxis, Vieweg Verlag Brunswick Wiesbaden, 1998
• Naval, N.: Roboter-Praxis, Vogel Buchverlag Wuerzburg, 1989
• Schraft, R.D., Volz, H.: Serviceroboter, Springer-Verlag Berlin Heidelberg, 1996
• Nehmzow, U.: Mobile Robotik, Springer Verlag Berlin Heidelberg 2002
• Hesse, S.: Industrieroboterperipherie, Huethig Verlag Heidelberg, 1990
• Ichbiah, D.: Roboter, von dem Knesebeck GmbH & Verlags KG Munich 2005

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