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Planning of collision free and feasible robot motions

Monday, 11 August 2025

⏰ 08:30

Time	Activity
08:30	Welcome and Organizational matters (HP)
08:45 – 10:15	Lecture 1: Basic planning and trajectory concepts (HP) Cartesian space and configuration space Parametrizations of these spaces Mapping between spaces Linear interpolation with parabolic blends Estimating cycle time costs Why plan and interpolate in configuration space
10:30 – 12:00	Lecture 2: Trajectory planning for Robot Manipulators and Grasping (AK) Interpolation for trajectories represented in Cartesian space Cubic polynomial interpolation Robotic grasping Definine trajectories by Learning
12:00	Lunch break
13:00 – 14:00	Lecture 3: Finding collision free paths (HP) Point to point planning Distance metric Resolution property Grid based and random points based sampling Sample based planning methods in a nutshell Collision testing and distance computations Finding shortest paths in graphs Example of a planning method
14:15 – 15:45	Lecture 4: Behavior based robotics for easy programming (KS)
15:45	Coffee break
16:00 – 17:30	Exercise on planning
17:30	End of the day