htw saar QR-encoded URL
Back to Main Page Choose Module Version:


Industrial Robotics

Module name (EN):
Name of module in study programme. It should be precise and clear.
Industrial Robotics
Degree programme:
Study Programme with validity of corresponding study regulations containing this module.
Mechatronics, Master, ASPO 01.04.2020
Module code: MTM.IRO
The exam administration creates a SAP-Submodule-No for every exam type in every module. The SAP-Submodule-No is equal for the same module in different study programs.
Hours per semester week / Teaching method:
The count of hours per week is a combination of lecture (V for German Vorlesung), exercise (U for Übung), practice (P) oder project (PA). For example a course of the form 2V+2U has 2 hours of lecture and 2 hours of exercise per week.
3V+1U (4 hours per week)
ECTS credits:
European Credit Transfer System. Points for successful completion of a course. Each ECTS point represents a workload of 30 hours.
Semester: according to optional course list
Mandatory course: no
Language of instruction:

[updated 19.12.2023]
Applicability / Curricular relevance:
All study programs (with year of the version of study regulations) containing the course.

E2845 (P221-0199) Electrical Engineering and Information Technology, Master, ASPO 01.04.2019 , semester 1, optional course
KIM-IR (P221-0199) Computer Science and Communication Systems, Master, ASPO 01.10.2017 , semester 1, optional course
MTM.IRO (P221-0199) Mechatronics, Master, ASPO 01.04.2020 , optional course
MP2206.IR Medical Physics, Master, ASPO 01.04.2019 , semester 1, optional course
PIM-IR (P221-0199) Applied Informatics, Master, ASPO 01.10.2017 , semester 1, optional course
Workload of student for successfully completing the course. Each ECTS credit represents 30 working hours. These are the combined effort of face-to-face time, post-processing the subject of the lecture, exercises and preparation for the exam.

The total workload is distributed on the semester (01.04.-30.09. during the summer term, 01.10.-31.03. during the winter term).
60 class hours (= 45 clock hours) over a 15-week period.
The total student study time is 150 hours (equivalent to 5 ECTS credits).
There are therefore 105 hours available for class preparation and follow-up work and exam preparation.
Recommended prerequisites (modules):
Recommended as prerequisite for:
Module coordinator:
Prof. Dr. Michael Kleer
Lecturer: Prof. Dr. Michael Kleer

[updated 24.10.2023]
Learning outcomes:
Students will be able to identify, apply and derive the most important methods for describing and designing industrial robot systems. They will be able to independently describe, explain and calculate the interaction of industrial robot systems with various coordinate systems and the associated coordinate transformations in detail. In addition, they will be able to independently calculate the forward and inverse kinematics, as well as the velocity kinematics of typical industrial robots and solve path and trajectory planning tasks. They will be able to derive the Jacobian matrix of typical industrial robot systems and use it for further calculations.

[updated 19.12.2023]
Module content:
Classifying industrial robots
Rotations, transformations, coordinate system representations
Derivation of the general homogeneous transformation matrix
Derivation of the Denavit-Hartenberg transformation method
Forward and inverse kinematics of serial industrial robots
Derivation of velocity kinematics
Derivation of the Jakobi matrix (analytical & geometric Jakobi matrix)
Path and trajectory planning for industrial robots

[updated 19.12.2023]
Recommended or required reading:
Springer Handbook of Robotics,
Robot Modeling and Control, ISBN: 978-1-119-52404-5

[updated 19.12.2023]
[Sun Apr 14 03:39:54 CEST 2024, CKEY=eir, BKEY=mechm, CID=MTM.IRO, LANGUAGE=en, DATE=14.04.2024]