Course Name
|
Turkish |
Robot Teknolojisine Giriş
|
| English |
Introduction to Robotics |
Course Code
|
MAK 4071E |
Credit |
Lecture
(hour/week) |
Recitation
(hour/week) |
Laboratory
(hour/week) |
| Semester |
7
|
- |
2 |
1 |
- |
| Course Language |
English |
| Course Coordinator |
Zeki Yağız Bayraktaroğlu
|
| Course Objectives |
1. General introduction to industrial robot manipulators, presentation of robot components.
2. Geometric, kinematic and dynamic modeling of serial robot manipulators.
3. Introduction to robot control with: independent joint control, computed torque control, compliance and force control.
|
| Course Description |
Introduction and short history. Structure and components of industrial manipulators. Forward and inverse geometric models. Forward and inverse kinematics. Static forces. Forward and inverse dynamics. Trajectory generation. Single DOF control. Independent joint control.
Computed torque control. Compliance and force control.
|
| Course Outcomes |
I. Recognize the general characteristics of industrial robots,
II. Obtain the geometric, kinematic and dynamic models of serial robot manipulators,
III. Planify the joint trajectories,
IV. Design a control system for one DOF,
V. Analyze the basic motion control methods through simulations. |
| Pre-requisite(s) |
|
| Required Facilities |
|
| Other |
|
| Textbook |
|
| Other References |
“Theory of Applied Robotics” ISBN 978-0-387-32475-3
“Modeling and Control of Robot Manipulators” ISBN 0-07-114726-8
“Control of Robot Manipulators” ISBN 0-02-370501-9
“Fundamentals of Robotic Mechanical Systems” ISBN 0-387-94540-7
“Theory of Robot Control” ISBN 3-540-76054-7
“Modelling and Identification in Robotics” ISBN 3-540-76240-X
“Robot Analysis and Control” ISBN 978-0471830290
“Theoretical Kinematics” ISBN 0-486-66346-9
“Freedom in machinery –Vol. 1” ISBN 0-521-23696-7
“Freedom in machinery –Vol. 2” ISBN 0-521-25442-6 |