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ISTANBUL GELİŞİM UNIVERSITY INFORMATION SYSTEM

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 6 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 - Linear control of manipulators. Feedback control techniques. Servo and regulatory control of manipulators. Trajectory following control. Modeling and control of single link arm -
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 - MID-TERM EXAM -
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 -