392035 Robotic Manipulators (int. Track) (V) (SoSe 2026)
Contents, comment
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In this lecture we will study the basics of serial manipulators:
- rigid body transforms: coordinate frames, transformations, twists, forces
- forward and inverse kinematics
- resolved motion rate control
- control as hierarchical quadratical optimization (HQP)
- planning
- dynamics
Theoretical understanding will be deepened in accompanying exercises and brought to life using simulated robots running on ROS, the Robot Operating System.
The follow-up course "Autonomous robot manipulation" held in the winter term, will consider autonomous grasping and manipulation of objects utilizing tactile and visual feedback.
Bibliography
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Some standard text books on robotics are:
- K. Lynch and F. Park: "Modern Robotics": https://modernrobotics.northwestern.edu/nu-gm-book-resource/foundations-of-robot-motion
- M. Spong, S. Hutchison, M. Vidyasagar: "Robot Modeling and Control": http://www-cvr.ai.uiuc.edu/~seth/SHV
Teaching staff
Dates ( Calendar view )
| Frequency | Weekday | Time | Format / Place | Period | |
|---|---|---|---|---|---|
| weekly | Di | 08-10 | X-E0-211 | 13.04.-24.07.2026 | Die Vorlesung beginnt um 08:30 Uhr. |
Subject assignments
| Module | Course | Requirements | |
|---|---|---|---|
| 39-Inf-RM Robot Manipulators Robotermanipulatoren | Robotermanipulatoren | Ungraded examination
Graded examination |
Student information |
| 39-M-Inf-ASE-bas Basics of Autonomous Systems Engineering Basics of Autonomous Systems Engineering | Basics of Autonomous Systems Engineering: Lecture | Student information | |
| - | Ungraded examination | Student information | |
| 39-M-Inf-INT-bas Basics of Interaction Technology Basics of Interaction Technology | Basics of Interaction Technology: Lecture | Student information | |
| - | Ungraded examination | Student information |
The binding module descriptions contain further information, including specifications on the "types of assignments" students need to complete. In cases where a module description mentions more than one kind of assignment, the respective member of the teaching staff will decide which task(s) they assign the students.
| Degree programme/academic programme | Validity | Variant | Subdivision | Status | Semester | LP | |
|---|---|---|---|---|---|---|---|
| Studieren ab 50 | |||||||
| Veranstaltungen für Schülerinnen und Schüler | Die Anmeldung zum Schnupperstudium erfolgt über die ZSB per E-Mail an: dop@uni-bielefeld.de |
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- SS2026_392035@ekvv.uni-bielefeld.de
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- Notes:
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- Last update basic details/teaching staff:
- Wednesday, January 7, 2026
- Last update times:
- Monday, February 9, 2026
- Last update rooms:
- Monday, February 9, 2026
- Type(s) / SWS (hours per week per semester)
- lecture (V) / 2
- Language
- This lecture is taught in english
- Department
- Faculty of Technology
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