Applied Robotics

Studiengang
  • Master's program Medical Technologies
Kennzahl der Lehrveranstaltung
  • MSE-M-1-ILV-MH1
Niveau der Lehrveranstaltung laut Lehrplan
  • Master
Semester in dem die Lehrveranstaltung angeboten wird
  • 1
Anzahl der zugewiesenen ECTS-Credits
  • 5.0
Name des/der Vortragenden
  • Massow Benjamin, B.Sc., M.Sc.
Lernergebnisse der Lehrveranstaltung
  • • Are capable of applying the basics of medical robotics programming. They
    • Know the setup and components of medical robotics system
    • Understand the according safety regulations
    • Are able to manually jog a robot
    • Are able to define tools and coordinate frames
    • Are able to realize a medical robot application by means of offline programming
    • Are able to debug programs and to detect/ resolve problems
Art der Veranstaltung
  • face-to-face
Voraussetzungen laut Lehrplan
  • none
Lehrinhalte
  • Theory
    - Degrees of freedom of rigid bodies; right-hand rule
    - Representations of Position and Orientation in in 2- and 3-dimensional Cartesian space; relative pose
    - Time-varying relative poses and trajectories
    - Trajectories and time dependent coordinate systems
    - Kinematics of medical robots; Denavit-Hartenberg parameters
    - Forward and inverse kinematics; singularity
    - Cartesian and joint-space motion

    Application
    - Setup and components of medical robotics system
    - Safety regulations
    - Manual jogging; coordinate systems; interfaces
    - Definition and calibration of tools and coordinate frames
    - Online, offline and teach-in programming
    - Realization of medical robot application by means of offline programming
    - Program debugging and error detection/ resolving
empfohlene Fachliteratur
  • - Leondes, C.T. ed., 2007. Mems/Nems:(1) Handbook techniques and applications design methods,(2) Fab-rication techniques,(3) manufacturing methods,(4) Sensors and actuators,(5) Medical applications and MOEMS. Springer Science & Business Media.
    - Verl, A., Albu-Schäffer, A., Brock, O. and Raatz, A., 2015. Soft Robotics. Springer, Heidelberg.
    - Kyung, C.M., 2016. Smart Sensors and Systems., In-novations for Medical, Environmental, and IoT Appli-cations. Springer.
    - Roberto Colombo B., Sanguineti, V., 2018. Rehabilita-tion Robotics Elsevier.
    - Corke, P.: Robotics, Vision and Control, Springer.
    - Spong, M. W., Hutchinson, S., Vidyasagar, M.: Robot Modeling and Control, Wiley
    - B.,Khatib, O.: Springer Handbook of Robotics, Springer
    - Siciliano, B., Villani, L., Oriolo, G.:Robotics: Modelling, Planning 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
    - Murray, R. M., Li, Z., Sastry, S. S.: A Mathematical In-troduction to Robotic Manipulation, CRC
Lehr- und Lernformen
  • The course comprises an interactive mix of lectures, discussions and individual and group work.
Prüfungsmethode
  • To monitor the students’ learning this course will provide ongoing assignments as a basis for feedback and grading (formative assessment) and/or will evaluate the students learning at the end of the course or an instructional unit via exams, final project reports, essays or seminar papers (summative assessment).
Unterrichtssprache
  • English