ROBOTICS DYNAMICS AND CONTROL

MAK538

Course Code: MAK538
Semester: -
Theory+Practice: 3 + 0
ECTS: 10

Course Type

Elective Course

Course Level

Master's Degree With Thesis

Year of Study

Semester

ECTS

Name of Lecturer(s)

Assistant Professor Andaç Töre Şamiloğlu

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

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
1^st Week	General structure and parts of robots
2^nd Week	Multivariable control methods , PD control, Inverse dynamic
3^rd Week	Control methods design and stability
4^th Week	Robots force control, Natural and artificial forces; Strength and flexibility; Inverse dynamic at work place
5^th Week	Multi entry force control
6^th Week	Linearization for feed-forward control methods
7^th Week	Frobenius theory
8^th Week	MID TERM
9^th Week	Single variable (SISO) robotic control systems
10^th Week	Linearization operations with feed-forward control methods for an N-Joint robot
11^th Week	Close loop design with regard to Lyapunov second law
12^th Week	Robot position control
13^th Week	Robot velocity and acceleration control
14^th 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

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 Allocated Based on Student Workload

Activities	Quantity	Duration (Hour)	Total Workload (Hour)
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 Work Load			293
Total Work Load / 30 (h)			9.76
ECTS Credit of the Course			10

Language of Instruction

Turkish

Work Placement(s)

Programme Qualifications / Learning Outcomes

	LO1	LO2	LO3	LO4	LO5
K1				X	X
K2
K3	X	X	X	X
K4					X
K5
K6				X	X
K7
K8
K9
K10		X
K11	X	X	X