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INTRODUCTION TO ROBOTIC SYSTEMS COURSE IDENTIFICATION AND APPLICATION INFORMATION

Code	Name of the Course Unit	Semester	In-Class Hours (T+P)	Credit	ECTS Credit
EEM423	INTRODUCTION TO ROBOTIC SYSTEMS	7	3	3	6

WEEKLY COURSE CONTENTS AND STUDY MATERIALS FOR PRELIMINARY & FURTHER STUDY
Week	Preparatory	Topics(Subjects)	Method
1	-	Introduction and a general perspective on Robotics. Objects in 3-D Space. Positions, orientations and frames. Translations, rotations, transformations. Transformation arithmetic	-
2	-	Introduction and a general perspective on Robotics. Objects in 3-D Space. Positions, orientations and frames. Translations, rotations, transformations. Transformation arithmetic	-
3	-	Different manipulator designs. Manipulator kinematics. Frame assignments. Affixing frames to links. Computational considerations. Actuator space, joint space concepts	-
4	-	Different manipulator designs. Manipulator kinematics. Frame assignments. Affixing frames to links. Computational considerations. Actuator space, joint space concepts	-
5	-	Inverse kinematics. Algebraic versus geometric computation.	-
6	-	Manipulator dynamics. Acceleration of a rigid body. Structure of manipulator dynamics. Lagrangian formulation of manipulator dynamics. 2 link manipulator dynamics	-
7	-	Manipulator dynamics. Acceleration of a rigid body. Structure of manipulator dynamics. Lagrangian formulation of manipulator dynamics. 2 link manipulator dynamics	-
8	-	MID-TERM EXAM	-
9	-	Linear control of manipulators. Feedback control techniques. Servo and regulatory control of manipulators. Trajectory following control. Modeling and control of single link arm	-
10	-	Linear control of manipulators. Feedback control techniques. Servo and regulatory control of manipulators. Trajectory following control. Modeling and control of single link arm	-
11	-	Dynamic simulation concepts. Simulation exercise. Disturbance rejection	-
12	-	Nonlinear control of manipulators. Multi input multi output control. Feedback linearizing control.	-
13	-	Nonlinear control of manipulators. Multi input multi output control. Feedback linearizing control.	-
14	-	Stability concepts. Lyapunov stability analysis of manipulator control techniques. Adaptive control concepts. Adaptive control of robotic manipulators.	-
15	-	Stability concepts. Lyapunov stability analysis of manipulator control techniques. Adaptive control concepts. Adaptive control of robotic manipulators.	-
16	-	FINAL EXAM	-
17	-	FINAL EXAM	-