Course Weekly Lecture Plan

Week	Topic
1	Introduction. Coordination of robotic systems . PLC control of step robots. (homework_1: replay robot)
2	Trajectory types: Point to point(PTP), continuous path(CP).
3	Trajectory types. Linear, triangular and trapezoidal profiles. (homework_2: Trajectory calculation). (Term paper)
4	Generation of trajectories.
5	Survey on actuator types. Principles and modeling of armature controlled Dc motor.
6	Quiz (PLC and Trajectory calculations). General control system, open loop control, closed loop control . Proportional, derivative and integral control shemes.
7	Term paper and student presentation_ SP_0: Operational Amplifiers and basic operation. SP_1: Digital/Analog converters and conversion. SP_2: Analog/Digital converters and conversion. SP_3: Voltage and current acquisition troughout a potentiometer, potentiometer's data acquisition. Proportional, proportional plus derivative and proportional plus integral control shemes for DC motors.
8	SP _4: Absolute encoders. SP_5: Incremental encoders. SP_6: Resolvers .(homework_3: Sensors). Determination of Kp, Kv and Ki parameters for DC motor control.
9	Motion control types. Critical damping, turn ratio, variation of inertia, time constant concepts. DC motor position control, PTP motion.
10	SP_7: Step motors mechanical characteristics: radial and linear types, coils, poles, step angle calculation. SP_8: Step motor driving techniques: Unipolar, bipolar utilisation; full, half and micro stepping. SP_9: FET, IGBT, SCR, TRIAC semiconductor switches. SP_10: PWM Pulse width modulation for servo drives. Position control of a DC motor_1
11	SP_11: DC servo motors. SP_12: DC servo motor drives. SP_13: AC servo motors. SP_14: AC servo motor drives. SP_15: Diffrences between AC-DC servo motor drives . Position control of a DC motor_2: Point to point motion.
12	Midterm examination. Velocity control of a DC motor_1: Point to point motion.
13	Velocity control of a DC motor_2: Point to point motion.
14	Position and velocity control of a DC motor: continious motion. Trajectory control.

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