Robotics

Department
  • Bachelor's program Mechatronics
Course unit code
  • MECH-B-5-ROA-ROB-ILV
Number of ECTS credits allocated
  • 5.0
Name of lecturer(s)
  • FH-Prof. Dr.-Ing. Repetzki Sebastian, Massow Benjamin, BSc MSc
Mode of delivery
  • face-to-face
Recommended optional program components
  • none
Recommended or required reading
  • - Baur, J., Kaufmann, H., Pflug, A.,‎ Schmid, D.,‎ Strobel, P., Automatisierungstechnik: Grundlagen - Komponenten - Systeme, Europa Lehrmittel
    - Wellenreuther, G., Zastrow, D., Automatisieren mit SPS - Theorie und Praxis: Programmieren mit STEP 7 und CoDeSys, Entwurfsverfahren, Bausteinbibliotheken Beispiele für Steuerungen, PROFINET, Ethernet-TCP/IP, OPC, WLAN, Springer
    - Heinrich, B., Grundlagen Automatisierung, Springer
    - Lunze, J., Automatisierungstechnik: Methoden für die Überwachung und Steuerung kontinuierlicher und ereignisdiskreter Systeme, De Gruyter
    - Heimbold, T., Einführung in die Automatisierungstechnik: Automatisierungssysteme, Komponenten, Projektierung und Planung, Hanser
    - VDI/VDE 3684:1997-09: Herstellerneutrale Konfiguration von Antriebssystemen - Beschreibung ereignisgesteuerter Bewegungsabläufe mit Funktionsplänen
    - Corke, P., Robotics, Vision and Control, Springer.
    - Craig, J. J., Introduction to Robotics: Mechanics and Control (3rd Edition) 3rd Edition, Prentice Hall
    - Jazar, R. N., Theory of Applied Robotics: Kinematics, Dynamics, and Control, Springer
    - Ullrich, G., Fahrerlose Transportsysteme: Eine Fibel - mit Praxisanwendungen - zur Technik - für die Planung, Springer
    - Martin, H., Transport- und Lagerlogistik: Systematik, Planung, Einsatz und Wirtschaftlichkeit, Springer
    - Spong, M. W., Hutchinson, S., Vidyasagar, M., Robot Modeling and Control, Wiley
    - Siciliano, B., Khatib, O., Springer Handbook of Robotics, Springer
    - Siciliano, B., Villani, L., Oriolo, G., Robotics: Modelling, Planning and Control, Springer
    - IEEE Robotics and Automation Magazine, IEEE Robotics & Automation Society.
    - The International Journal of Robotics Research, SAGE Publishing.
    - IEEE Transactions on Robotics, IEEE Robotics & Automation Society.
Assessment methods and criteria
  • Modul exam
Level of course unit
  • Bachelor
Year of study
  • Fall 2025
Semester when the course unit is delivered
  • 5
Language of instruction
  • English
Learning outcomes of the course unit
  • Students learn about different levels in industrial manufacturing according to the automation pyramid:
    - Enterprise level (ERP)
    - Plant management level (MES, LIMS, MIS)
    - (Process) control level (process control system, SCADA, HMI)
    - Control level (PLC)
    - Field level (I/Os, fieldbus systems)
    - Sensor/actuator level
    Students learn about different forms of industrial control systems for machines, plants and processes:
    - Programmable logic controllers (PLC)
    - Numerical control systems (CNC)
    - Robot controls (RC)
    - Motion controllers (MC)
    - Application areas and special features
    Students will learn about different representation options for automation tasks and will be able to implement them using simple examples:
    - Structure diagrams (e.g. class diagram, composition structure diagram, etc.)
    - Behavior diagrams (e.g. sequence diagram, time progression diagram, etc.)
    - Description of event-driven motion sequences with (hybrid) function charts.
    Students will learn the basic elements of PLC programming and various technical languages and will be able to implement them using simple examples:
    - Sequential Function Chart, Ladder Diagram, Function Block Diagram, Instruction List, Structured Text).
    - Data types, digital & analog I/Os, sensors
    - Actuators (NC axes, stepper motors, DC motors and servo motors), communication
    - Communication, industrial bus systems
    - Human Machine Interfaces (HMI)
    - Automatic code generation of control loops
    - Integration of industrial image processing systems
    Students will learn the basics of the Industrial Internet of Things (IIoT):
    - Structure, function and use of cloud services (e.g. Microsoft Azure or Amazon Web Services (AWS) cloud).
    - Function and use of message brokers (e.g. MQTT or AMQP message brokers).
    - Communication or data services in the, or it sends the process data Standard for sending process data (e.g. TwinCAT ADS, OPC UA)
    - Services for production data processing & visualization.

    Students learn about different forms of industry-relevant existing and emerging industrial robot systems, autonomous robot systems:
    - Different kinematics of industrial robot systems.
    The students master the basics for the mathematical description of autonomous and industrial robot systems and are able to implement them computer-based
    - Forms of representation for position and orientation in 2- and 3-dimensional space
    - Forms of representation for relative poses in 2- and 3-dimensional space
    - Trajectories and time-varying coordinate systems
    The students master the basics of industrial robotics. They
    - Can describe and derive industrial robot kinematics (DH parameters)
    - Are able to describe forward and backward transformations mathematically and implement them in a computer-aided manner
    - Gain experience in the use of offline programming
    - Learn different types of motion (Cartesian & Joint-Space Motion)
    Students master the basics of industrial robot operation and programming. They
    - Learn the structure of an industrial robot system
    - Understand and consider safety issues during operation
    - Master the manual operation
    - Master work object and end effector definition
    - Realize a task by means of offline programming
    - Implement offline programs on an industrial robot
    - Master debugging and error analysis of the implementation
    Students understand how to integrate industrial robots into higher-level processes and systems.
    - Interdisciplinary description of production processes: kinematic, mechanical, temporal, object and event-related
    - Derivation of subject-specific requirements: mechanical and electrical design, sensors and drives, programming
    - Independent solution of handling tasks
Course contents
  • Types of industrially relevant existing and emerging industrial robot systems.
    - Different kinematics of industrial robot systems
    Basics of mathematical description and computer-aided implementation
    - Representation forms for position and orientation in 2- and 3-dimensional space
    - Representation forms for relative poses in 2- and 3-dimensional space
    - Trajectories and time-varying coordinate systems
    Basics of industrial robotics
    - Description of industrial robot kinematics (DH parameters)
    - Forward and backward transformations
    - Offline programming
    - Knowing different types of motion (Cartesian & Joint-Space Motion)
    Basics of industrial robot operation and programming
    - Structure of an industrial robot system
    - Safety aspects during operation
    - Manual operation
    - Work object and end effector definition
    - Realization of a task by means of offline programming
    - Implementation of offline programs on an industrial robot
    - Debugging and error analysis of the implementation
    Integration of industrial robots into higher-level processes and systems
    - Interdisciplinary description of production processes: kinematic, mechanical, temporal, object and event related
    - Derivation of subject-specific requirements: mechanical and electrical design, sensors and drives, programming
    - Independent solution of handling tasks
Planned learning activities and teaching methods
  • The course comprises an interactive mix of lectures, discussions and individual and group work.
Work placement(s)
  • none

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