Rigid Body Dynamics and Robotics

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


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 OLAT course to access lecture notes, exercises, announcements, etc. 


Data and files will be updated during the teaching period. Documents will be made available first in the OLAT resource, then on this webpage a few days later. 

Lecture notes

Lecture notes will be provided chapterwise during the lecturing period.  

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

The complete set of lecture notes as single pdf file will be made available at the end of the course.

Additional downloads

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