Robotik Systems in Sport & Medical Technology

Department
  • Bachelor's program Medical, Health and Sports Engineering
Course unit code
  • MGST-B-5-RS-RS-ILV
Number of ECTS credits allocated
  • 5.0
Name of lecturer(s)
Mode of delivery
  • face-to-face
Recommended optional program components
  • none
Recommended or required reading
  • - **P. Corke:** *Robotics, Vision and Control: Fundamental Algorithms in MATLAB, 2nd Edition*, Berlin: Springer-Verlag, 2017
    - **M. W. Spong, S. Hutchinson, M. Vidyasagar:** *Robot Modeling and Control, 1st Edition*, New York: Wiley, 2006
    - **J.J. Craig:** *Introduction to Robotics: Mechanics and Control, 4th Edition*, London: Pearson, 2017
    - **B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo:** *Robotics: Modeling, Planning and Control, 1st Edition*, London: Springer-Verlag, 2009
    - **B. Siciliano, O. Khatib:** *Springer Handbook of Robotics, 2nd Edition*, Berlin: Springer-Verlag, 2016
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
  • The students:

    - understand the basic principles of serial robotic systems.
    - are able to identify arm parts (links) and joints of serial robotic systems.
    - are able to define joint types (rotational and translational).
    - are able to identify coordinate systems of a robotic system or a robot-assisted application.
    - are able to name common serial kinematics, their applications, as well as their advantages and disadvantages.
    - know the theoretical foundations for describing kinematics.
    - are able to apply different forms of representation for relative poses.
    - are able to describe common serial kinematics mathematically.
    - are able to calculate forward kinematics and inverse kinematics.
    - are able to create trajectories in Cartesian space and joint space and implement them in software algorithms.
Course contents
  • • **Robotic Systems**
    - Arm parts (links) and joints of serial robotic systems
    - Joint types (rotational and translational)
    - Coordinate systems of a robotic system or robot-assisted application
    - Serial kinematics, their applications, and advantages/disadvantages (Articulated Manipulator (RRR), Spherical Manipulator (RRP), SCARA Manipulator (RRP), Cylindrical Manipulator (RPP), Cartesian Manipulator (PPP))

    • **Relative Poses (Position and Orientation) of Coordinate Systems**
    - General definition of relative pose
    - Mathematical description of position (translation vector)
    - Mathematical description of orientation (rotation sequences, orthonormal rotation matrix, vector-angle pair, unit quaternion)
    - Mathematical description of relative poses (homogeneous transformation matrix, translation vector-unit quaternion pair)
    - Conversion between representation forms
    - Implementation in software algorithms

    • **Mathematical Description of Kinematics**
    - Denavit-Hartenberg parameters
    - Forward kinematics
    - Inverse kinematics
    - Singularities
    - Configuration changes
    - Implementation in software algorithms

    • **Trajectory of Kinematics**
    - Two-dimensional trajectories
    - Trajectories in Cartesian space
    - Trajectories in joint space
    - Implementation in software algorithms

    **Practical Exercises in the Following Areas:**
    • **Real-Offline Programming of Robotic Systems**
    - Creating a virtual controller
    - Creating routines, subroutines, instructions, and functions
    - Control structures
    - Human-machine interfaces
    - Digital and analog input/output

    • **Planning and Implementation of a Robot-Assisted Application**
    - Definition of components
    - Definition of coordinate systems
    - Kinematic descriptions
    - Real-offline programming of the application
    - Implementation of the application on real hardware
    - Optimization in software algorithms
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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