Rigid Body Dynamics and Robotics

Rigid Body Dynamics and Robotics
V-UE; 3 SWS; ECTS-Points: 5
Lecturer: Prof. Dr.-Ing. habil. Thomas Meurer

For the exam in March 2020 there will be a joint repetorium and office hour on March 5th from 9:00-11:00 am. The room will be announced about a week before. 


Mathematical models play a crucial role in almost any scientific domain. In this context modeling refers to the determination of an abstract mathematical description (approximately) reflecting the behavior of the system under consideration. For this algebraic, ordinary or even partial differential equations are taken into account depending on the problem setting, the degree of detail and the modeling goals. This lecture gives an introduction to the mathematical modeling of dynamic systems.  The lecture addresses the following topics:

  • Rigid body kinematics
  • Rigid body dynamics
  • Energy principles
  • Modeling of robots and basic principle of their control


See UnivIS.

OLAT resource

Please sign up for the course related OLAT resource to be included in email announcements for the lecture. Link to the resource will be provided during the first week of lectures.


Data and files will be updated during the teaching period.

Lecture notes

Lecture notes will be provided chapterwise. Note that pdfs are prepared for twosided printout. English versions will be made available upon request.

  • Chapters 1 and 2 (pdf)
  • Chapter 3 (pdf)
  • Chapter 4 (pdf)

Additional downloads

Mathematica animations for Chapter 2, you will need the Wolfram CDF Player (free to download) to run the provided cdf-files.