Applied Robotics

  • 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

    - 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