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Description of Individual Course Units

Course Unit Code Course Unit Title Type Of Course D U L ECTS MEC 5027 CONTROL OF ROBOT MANIPULATORS ELECTIVE 3 0 0 7

Offered By

Graduate School of Natural and Applied Sciences

Level of Course Unit

Second Cycle Programmes (Master's Degree)

Course Coordinator

ASSISTANT PROFESSOR MURAT AKDAĞ

Offered to

Mechatronics Engineering M.Sc. Mechatronics Engineering Mechatronics Engineering

Course Objective

Aim of the lesson is teaching, design, computation and control applications of robot manipulators to students.

Learning Outcomes of the Course Unit

1   Teaching basic definitions, concept, dynamic and application based analysis of different types of manipulators. 2   Teaching forward and inverse kinematic analysis with coordinate transformations. 3   Ability of computer based applications with theoretical knowledge. 4   Control of manipulator systems with real applications for trajectory analysis and trajectory following.

Mode of Delivery

Face -to- Face

Prerequisites and Co-requisites

None

Recomended Optional Programme Components

None

Course Contents

Week Subject Description 1 Matrix calculations and transformations. 2 Matrix calculations and transformations. 3 Translation and rotation matrices. Assignment of homework 1. 4 Coordinate transformations (definitions of position and orientation). 5 Kinematic analysis of manipulators. Delivery of homework 1. 6 Forward and inverse kinematic methods and their calculations. Assignment of homework 2. 7 Midterm 8 Trajectory following and analysis of manipulator end effector. 9 Velocity and acceleration analysis. Delivery of homework 2. 10 Control of manipulator lims (closed loop analysis and stability). 11 Limb moment calculations. Assignment of homework 3. 12 Inertia, load, coriolis, viscous damping and other moments calculations. 13 Robotic applications. Delivery of homework 3. 14 Student presentations.

Recomended or Required Reading

Textbook: J. Craig., Introduction to Robotics: Mechanics and Control (3rd Edition, Amazon Pub. Comp., 2011. Reference Book: K. Ogata, Modern Control Engineering, 4th edition., Prentice Hall, Inc., New Jersey, 2002. R.C. Dorf, R.H. Bishop, Modern Control systems, 10th edition, Prentice Hall, Inc. New Jersey, 2005.

Planned Learning Activities and Teaching Methods

Content of the lesson will be given by presentations.

Assessment Methods

SORTING NUMBER SHORT CODE LONG CODE FORMULA 1 MTE MIDTERM EXAM 2 ASG ASSIGNMENT 3 FIN FINAL EXAM 4 FCG FINAL COURSE GRADE MTE * 0.25 + ASG *0.25 +FIN *0.50 5 RST RESIT 6 FCGR FINAL COURSE GRADE (RESIT) MTE * 0.25 + ASG *0.25 +RST *0.50 *** Resit Exam is Not Administered in Institutions Where Resit is not Applicable.

Further Notes About Assessment Methods

None

Assessment Criteria

Learning outcomes will be evaluated with homeworks and exams.

Language of Instruction

Turkish

Course Policies and Rules

To be announced.

Contact Details for the Lecturer(s)

Prof. Dr. Erol Uyar erol.uyar@deu.edu.tr

Office Hours

To be announced.

Work Placement(s)

None

Workload Calculation

Activities Number Time (hours) Total Work Load (hours) Lectures 13 3 39 Preparations before/after weekly lectures 13 5 65 Preparation for midterm exam 1 15 15 Preparation for final exam 1 15 15 Preparing presentations 1 10 10 Preparing assignments 3 12 36 Midterm 1 3 3 Final 1 3 3 TOTAL WORKLOAD (hours) 186

Contribution of Learning Outcomes to Programme Outcomes

PO/LO PO.1 PO.2 PO.3 PO.4 PO.5 PO.6 PO.7 PO.8 PO.9 PO.10 PO.11 PO.12 PO.13 PO.14 PO.15 LO.1 3 LO.2 2 2 LO.3 2 2 2 2 LO.4 3 2 2