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) |
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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.
Session | Date | Room![]() |
Topics | Materials | Exercises Solution |
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Session 1 | 18.04.2013 | 01.07.23 | Spatial description (Coordinate Frames) |
Session1.zip | Session1_solution.zip |
Session 2 | 02.05.2013 | 01.07.23 | Forward Kinematics (D-H convention) |
Session2.zip | Session2_solution.zip |
Session 3 | 16.05.2013 | 01.07.23 | Differential Kinematics (Jacobians) |
Session3.zip | Session3_solution.zip |
Session 4 | 23.05.2013 | 01.07.23 | Dynamics 1 (Direct Euler-Lagrange Method) |
Session4.zip | |
Session 5 | 06.06.2013 | 01.07.23 | Dynamics 2 (Iterative Euler-Lagange method using DH, Robot Regressor) |
Session5.zip | Session5_solution.zip |
Session | 13.06.2013 | 01.07.23 | Lecture Spatial Vectors and Robot Dynamics (Dr. Roy Featherstone) |
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Session 6 | 20.06.2013 | 01.07.23 | Control 1 PD and PID Control (Regressor-based) using Passivity Analysis |
Session6.zip | |
Session 7 | 27.06.2013 | 01.07.23 | Final project |
FinalProject.zip | |
Session 8 | 04.07.2013 | 01.07.23 | Final project |
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Session 9 | 11.07.2013 | 01.07.23 | Final project |
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Session 10 | 18.07.2013 | 01.07.23 | Control 2 |
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 ]