| Course Type | Elective Course |
|---|
| Course Level | Doctorate Of Science |
|---|
| Year of Study | - |
|---|
| Semester | - |
|---|
| ECTS | 10 |
|---|
| Name of Lecturer(s) |
|
| Learning Outcomes |
At the end of this course, the students;
- Understanding the fundamentals of robotics.
- Having an understanding of information about robot types, robot structures and their usage areas.
- Understanding the function of robotics in an automation system.
- Comprehending basic information about robot dynamics and kinematics.
- Understanding information about the problems in robotics systems and gaining ability to generate solution methods for these problems.
|
| Mode of Delivery | Face to face |
|---|
| Prerequisites | No |
|---|
| Recommended Optional Programme Components | none |
|---|
| Course Description | 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 |
|
| Recommended or Required Reading | Robot Dinamiği ve Kontrolü, Zafer Bingül, Serdar Küçük, Birsen yayınevi
|
|---|
| Planned Learning Activities and Teaching Methods |
|
|---|
| Assessment Methods and Criteria |
|
Quantity |
Percentage (%) |
| Mid-term |
1 |
35 |
| Assignment |
1 |
10 |
| Quiz |
1 |
10 |
| Total(%) |
|
55 |
| Contribution of In-term Studies to Overall Grade(%) |
|
55 |
| Contribution of Final Examination to Overall Grade(%) |
|
45 |
| Total(%) |
|
100 |
|
| ECTS Allocated Based on Student Workload |
| Activities |
Quantity |
Duration (Hour) |
Total Workload (Hour) |
| Midterm exam |
1 |
2 |
2 |
| Preparation for Quiz |
1 |
14 |
14 |
| Individual or group work |
14 |
8 |
112 |
| Preparation for Final exam |
1 |
60 |
60 |
| Course hours |
14 |
3 |
42 |
| Preparation for Midterm exam |
1 |
25 |
25 |
| Laboratory (including preparation) |
|
|
|
| Final exam |
1 |
2 |
2 |
| Homework |
|
|
|
| Project |
1 |
40 |
40 |
| Quiz |
1 |
2 |
2 |
| Total Work Load | 299 |
| Total Work Load / 30 (h) | 9.96 |
| ECTS Credit of the Course | 10 |
|
| Language of Instruction | Turkish |
|---|
| Work Placement(s) | No |
|---|
