Applied Robotics

- 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