Robotics

Winter semester 2012/2013

Dr.-Ing. Sami Haddadin

German Aerospace Center (DLR)

Robotics and Mechatronics Center

Technische Universität München

Institut für Informatik
Lab for Robotics and Embedded Systems (I6)

www.robotic.dlr.de/Sami.Haddadin/
 Organization

Lecture: Monday 10:15-11:45 MI HS2

Thursday 13:00-13:45 MI HS2
3V+2Ü (6 ECTS)
Lecturer: Dr.-Ing. Sami Haddadin, sami.haddadin@dlr.de
Robotics and Mechatronics Center, DLR
Excercises: Tuesday 12:15 - 13:45, MI 00.13.009A
Tutors: Mehmet Can Özparpucu, M.Sc. (Mehmet.Oezparpucu@dlr.de)
Susanne Petsch, M.Sc. (petsch@in.tum.de)
Website: http://www6.in.tum.de/Main/TeachingWs2012Robotik
 Lecture material

Script: lecture slides, exercise material, additional material

• http://www6.in.tum.de/Main/TeachingWs2012Robotik

Literature:
• Introduction to Robotics Mechanics and Control (3rd Edition): John J, Craig. Prentice
Hall. ISBN 0-13-123629-6
• Principles of Robot Motion: Theory, Algorithms, and Implementation: H. Choset, K.
Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun. MIT Press.
ISBN 0-262-03327-5
• Robotik: Programmierung intelligenter Roboter: Hans-Jürgen Siegert, Siegfried
Bocionek, Springer-Verlag, ISBN 3-540-60665-3

Excursion to DLR
• Excursion to Robotics and Mechatronics Center of DLR in January
 Exam

• Written exam, 1.5 h

• Date and place will be announced next week
• Mixed questions: Conceptual and calculations
 Background

Which study courses?

1. CS:
2. RCI:
3. EE:
4. ME:
5. ??

Which lectures did you take in advance?

 Expecations

What do you expect from this course?

 Table of Contents

I. Introduction
1. Short history of robotics
2. Basics & Applications
II. Kinematic and dynamic modeling
1. Rigid body transformations
2. Forward kinematics
3. Inverse kinematics
4. Rigid body dynamics
III. Planning and control
1. Motion and trajectory planning
2. Linear and nonlinear motion control
3. Direct and indirect force control
4. Coordinated grasp and motion planning
5. Industrial and medical robotics
IV. Mobile Robotics
1. Sensors in mobile robotics
2. Sensor-based navigation
Today‘s schedule

Robotics history
 The term „robot“

• Famous from science fiction (Marvin, R2D2, ..., Matrix, ...)

• Czech writer Karel Capec coined the term robot in 1921 (Bühnenstück „Rossums
Universalroboter“)
• The word „robot“ is derived from the czech word „robota“ (work) (also slave)
• „Robot“ in general use: machine that has human like appearance (andoird) and/or is able
to take over functionalities that are carried out by a human otherwise
 The term „robot“

Definition of Robot Institute of America (1980)

A robot is a reprogrammable multifunctional manipulator designed to move
material, parts, tools, or specialized devices through variable programmed
motions for the performance of a variety of taks
More general definition
A device with several levels of autonomy that works general under computer
control.
From dictionary
• An efficient insensible person
• A mechnically operation person that does not waste thoughts about the meaning
of a task and reacts automoatically to commands
• A machine that looks like a human
 Defintion „robot“

A robot is a mechanical device that

• is able to move itself and/or mechanical
objects
• has an arm/wrist and an end-effector (gripper)
or wheels/legs in case of a mobile robot
• has actuators and control for all motion types
• is freely programmable regarding motion and
action
• is equipped with sensors for control and
environment perception
 Sensors

In order to interact with the environment, a robot is equipped with sensors

that provide it with follwowing data
• Contact forces and moments
• Position and pose of its limbs
• Distance to objects in its environment
• Visual impressions
• Temperature, …
• Shape, surface condtitions
• Smell