Course Information

Course Name	Turkish	Robotik Kontrol Sistemleri
	English	Robotic Control Systems
Course Code	UZB 438	Credit	Lecture (hour/week)	Recitation (hour/week)	Laboratory (hour/week)
Semester	8	3	3	-	-
Course Language		English
Course Coordinator		Turgut Berat Karyot
Course Objectives		• To introduce the control mechanisms of industrial robots. • To introduce the application of sensors in robots. • To introduce the working principles of dc motors and drivers.
Course Description		Open loop control, closed loop control. Friction and gravity factors, important points on frequency domain. Sensor systems, potantiometers, synchros, resolvers, optical sensors. Robot calibration. Driver systems, step motors, brushless dc motors, direct drive motors and actuators. Servo amplifiers, linear and pulse width modulation amplifiers, feedback effect on servo amplifiers.
Course Outcomes		On completing this course students should have knowledge on: 1. Programable logical controllers concept and their application in robotics; 2. Trajectory types for robots; 3. DC motors; 4. Step motors and their driving techniques; 5. Different status sensors and the principles of computer interfacing; 6. Proportional, derivative and integral control shemes for axis trajectory control of motors; 7. PTP and CP trajectory control systems; 8. Position and velocity control systems.
Pre-requisite(s)
Required Facilities
Other		Term paper and presentation: The technological qualifications of sensors, motors and their drivers used in robotics. Homework_1: PLC control of a replay robot. Homework_2: Trajectory calculation. Homework_3: Sensors and interfacing.
Textbook		Spong, M. W., Hutchinson, S., Vidyasagar M., Robot Modeling and Control. 2006, Wiley.
Other References		Çetinkurt. S., Mechatronics. 2007, John Wiley And Sons. Critchlow, A.J., Introduction to Robotics. 1985, Macmillan. Paul, R.P., Robot Manipulators: Mathematics, Programming and Control, 1981,The MIT Press. Asada, H., Slotine, J.-J.E., Robot Analysis and Control. 1995, John Wiley And Sons. Wolovitch. W. A. Robotics: Basic Analysis and Design.1987, CBS College Publishing. Gülgün. R., Güç Elektroniğine Giriş. 1987. Kasapoğlu. A., Güç Elektroniği. 1989, Yıldız Teknik Üniversitesi. N. Tuncay. N., Gökaşan. M., Boğosyan. S., Güç Elektroniği: Çeviriciler, Uygulamalar ve Tasarım, 2007, Literatür Yayıncılık.

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