At the end of this course, the students; 1) Understanding the fundamentals of robotics. 2) Having an understanding of information about robot types, robot structures and their usage areas. 3) Understanding the function of robotics in an automation system. 4) Comprehending basic information about robot dynamics and kinematics. 5) Understanding information about the problems in robotics systems and gaining ability to generate solution methods for these problems.
MODE OF DELIVERY
Face to face
PRE-REQUISITES OF THE COURSE
No
RECOMMENDED OPTIONAL PROGRAMME COMPONENT
None
COURSE DEFINITION
General structure and parts of robots, Multivariable control methods , PD control, Inverse dynamic, Control methods design and stability, Robots force control, Natural and artificial forces; Strength and flexibility; Inverse dynamic at work place, Multi entry force control, Linearization for feed-forward control methods, Frobenius theory, Single variable (SISO) robotic control systems, Linearization operations with feed-forward control methods for an N-Joint robot, Close loop design with regard to Lyapunov second law, Robot position control, velocity and acceleration control, Unsteady loads at robots, adaptive control methods
COURSE CONTENTS
WEEK
TOPICS
1st Week
General structure and parts of robots
2nd Week
Multivariable control methods , PD control, Inverse dynamic
3rd Week
Control methods design and stability
4th Week
Robots force control, Natural and artificial forces; Strength and flexibility; Inverse dynamic at work place
5th Week
Multi entry force control
6th Week
Linearization for feed-forward control methods
7th Week
Frobenius theory
8th Week
MID TERM
9th Week
Single variable (SISO) robotic control systems
10th Week
Linearization operations with feed-forward control methods for an N-Joint robot
11th Week
Close loop design with regard to Lyapunov second law
12th Week
Robot position control
13th Week
Robot velocity and acceleration control
14th Week
Unsteady loads at robots, adaptive control methods
RECOMENDED OR REQUIRED READING
Robot Dinamiği ve Kontrolü, Zafer Bingül, Serdar Küçük, Birsen yayınevi
PLANNED LEARNING ACTIVITIES AND TEACHING METHODS
Practice,Lecture
ASSESSMENT METHODS AND CRITERIA
Quantity
Percentage(%)
Mid-term
1
35
Assignment
4
15
Presentation of Case Study
1
5
Total(%)
55
Contribution of In-term Studies to Overall Grade(%)
55
Contribution of Final Examination to Overall Grade(%)
45
Total(%)
100
ECTS WORKLOAD
Activities
Number
Hours
Workload
Midterm exam
1
24
24
Preparation for Quiz
Individual or group work
14
2
28
Preparation for Final exam
14
3
42
Course hours
14
3
42
Preparation for Midterm exam
7
3
21
Laboratory (including preparation)
Final exam
1
60
60
Homework
4
14
56
Presentation (including preperation)
1
20
20
Total Workload
293
Total Workload / 30
9,76
ECTS Credits of the Course
10
LANGUAGE OF INSTRUCTION
Turkish
WORK PLACEMENT(S)
No
KEY LEARNING OUTCOMES (KLO) / MATRIX OF LEARNING OUTCOMES (LO)
