The scope of an advanced robotics course is expansive, delving into intricate aspects of robot motion, control systems, and sensor technologies. It encompasses advanced topics like differential kinematics, path planning, and trajectory generation, offering students a comprehensive understanding of robot dynamics and control. The course also explores cutting-edge control techniques such as force control, and impedance control, along with admittance control. Students gain hands-on experience in robotics software development, utilizing frameworks and programming languages essential for advanced applications.
Course Content
This course contains; Definition of Robotics, Robot components and types ,Derivations of the rotation operators to describe and control the orientation of robotic end-effectors. ,Homogeneous transformations that represent the position and orientation of a robotic system in a unified mathematical framework.,Derivation of Forward Kinematics to determine the end-effector position of a robot given its joint variables,Derivation of Inverse kinematics problems to compute the joint variables required to achieve a desired end-effector position and orientation.,The concept of velocity kinematics and its application to analyze the relationship between joint velocities and end-effector velocities in a robotic system.,Derivation of the equations of motion for robotic systems using the Newton-Euler method: Calculation of inertia properties, including mass, center of mass, and inertia tensor, for individual rigid bodies in a robotic system. Apply the recursive Newton-Euler algorithm to compute velocities and accelerations in a robotic manipulator. ,Analyses joint forces and torques, expressing them in terms of external forces, joint accelerations, and inertia properties. Implementation of dynamic simulations of robotic manipulators using the Newton-Euler method.,Derivation of Lagrange's equations in describing the dynamics of mechanical systems. ,Solving dynamics problems in the presence of constraints using Euler-Lagrange equations, such as closed-loop kinematic structures. ,Force Control Fundamentals: 1)Understanding the principles of force control in robotics. 2)Exploring the role of force sensors and tactile feedback in robotic systems. 3) Analyzing the challenges and applications of force control in various scenarios.,Adaptive Control Techniques: 1) Studying adaptive control techniques applicable to robotic systems. 2) Examining how adaptive control can be utilized to enhance the performance of robots in response to changing environmental conditions. ,Real-time Feedback and Control:
Implementing real-time feedback mechanisms for force control.
,Examining the importance of closed-loop control systems in adapting to dynamic changes..
Dersin Öğrenme Kazanımları
Teaching Methods
Assessment Methods
Solve the complexities of robot motion involves understanding and analyzing aspects such as differential kinematics, path planning, and trajectory generation
2, 21
A, D, E, F
Apply force control, impedance control, and admittance control to effectively govern and optimize robotic behaviour.
2, 21
A, D, E, F
Applies the theoretical background acquired in robot dynamics and control in practical scenarios.
2, 21
A, D, E, F
Gain practical experience in robotics software development, utilizing essential frameworks and programming languages for advanced applications and system integration.
2, 21
A, D, E
Apply design principles, including materials, and fabrication methods for prototyping robotic systems.
2
D, F
Teaching Methods:
2: Project Based Learning Model, 21: Simulation Technique
Assessment Methods:
A: Traditional Written Exam, D: Oral Exam, E: Homework, F: Project Task
Course Outline
Order
Subjects
Preliminary Work
1
Definition of Robotics, Robot components and types
Course presentation
2
Derivations of the rotation operators to describe and control the orientation of robotic end-effectors.
Course presentation
3
Homogeneous transformations that represent the position and orientation of a robotic system in a unified mathematical framework.
Course presentation
4
Derivation of Forward Kinematics to determine the end-effector position of a robot given its joint variables
Course presentation
5
Derivation of Inverse kinematics problems to compute the joint variables required to achieve a desired end-effector position and orientation.
Course presentation
6
The concept of velocity kinematics and its application to analyze the relationship between joint velocities and end-effector velocities in a robotic system.
Course slides
7
Derivation of the equations of motion for robotic systems using the Newton-Euler method: Calculation of inertia properties, including mass, center of mass, and inertia tensor, for individual rigid bodies in a robotic system. Apply the recursive Newton-Euler algorithm to compute velocities and accelerations in a robotic manipulator.
Course presentation
8
Analyses joint forces and torques, expressing them in terms of external forces, joint accelerations, and inertia properties. Implementation of dynamic simulations of robotic manipulators using the Newton-Euler method.
Course presentation
9
Derivation of Lagrange's equations in describing the dynamics of mechanical systems.
Course presentation
10
Solving dynamics problems in the presence of constraints using Euler-Lagrange equations, such as closed-loop kinematic structures.
Course presentation
11
Force Control Fundamentals: 1)Understanding the principles of force control in robotics. 2)Exploring the role of force sensors and tactile feedback in robotic systems. 3) Analyzing the challenges and applications of force control in various scenarios.
Course presentation
12
Adaptive Control Techniques: 1) Studying adaptive control techniques applicable to robotic systems. 2) Examining how adaptive control can be utilized to enhance the performance of robots in response to changing environmental conditions.
Course presentation
13
Real-time Feedback and Control:
Implementing real-time feedback mechanisms for force control.
Course presentation
14
Examining the importance of closed-loop control systems in adapting to dynamic changes.
Course presentation
Resources
Robot Dynamics and Control, Spong, Vidyasagar, John Wiley and Sons, 1989.
• MATLAB Control System Toolbox, SIMULINK (Code Examples)
• Arduino (Built-in Examples) https://www.arduino.cc/en/Tutorial/BuiltInExamples
Course Contribution to Program Qualifications
Course Contribution to Program Qualifications
No
Program Qualification
Contribution Level
1
2
3
4
5
1
An ability to apply knowledge of mathematics, science, and engineering
X
2
An ability to identify, formulate, and solve engineering problems
X
3
An ability to design a system, component, or process to meet desired needs within realistic constraints such as economic, environmental, social, political, ethical, health and safety, manufacturability, and sustainability
X
4
An ability to use the techniques, skills, and modern engineering tools necessary for engineering practice
X
5
An ability to design and conduct experiments, as well as to analyze and interpret data
X
6
An ability to function on multidisciplinary teams
X
7
An ability to communicate effectively
X
8
A recognition of the need for, and an ability to engage in life-long learning
X
9
An understanding of professional and ethical responsibility
X
10
A knowledge of contemporary issues
X
11
The broad education necessary to understand the impact of engineering solutions in a global, economic, environmental, and societal context
X
Assessment Methods
Contribution Level
Absolute Evaluation
Rate of Midterm Exam to Success
30
Rate of Final Exam to Success
70
Total
100
ECTS / Workload Table
Activities
Number of
Duration(Hour)
Total Workload(Hour)
Course Hours
14
5
70
Guided Problem Solving
14
2
28
Resolution of Homework Problems and Submission as a Report
5
20
100
Term Project
0
0
0
Presentation of Project / Seminar
1
5
5
Quiz
0
0
0
Midterm Exam
0
0
0
General Exam
1
40
40
Performance Task, Maintenance Plan
0
0
0
Total Workload(Hour)
243
Dersin AKTS Kredisi = Toplam İş Yükü (Saat)/30*=(243/30)
8
ECTS of the course: 30 hours of work is counted as 1 ECTS credit.
Detail Informations of the Course
Course Description
Course
Code
Semester
T+P (Hour)
Credit
ECTS
ADVANCED ROBOTICS
EEE3215372
Spring Semester
3+2
4
8
Course Program
Pazartesi 12:00-12:45
Pazartesi 12:45-13:30
Pazartesi 13:30-14:15
Pazartesi 14:30-15:15
Çarşamba 16:30-17:15
Çarşamba 17:30-18:15
Prerequisites Courses
Recommended Elective Courses
Language of Course
English
Course Level
First Cycle (Bachelor's Degree)
Course Type
Elective
Course Coordinator
Assist.Prof. Elif HOCAOĞLU
Name of Lecturer(s)
Assist.Prof. Elif HOCAOĞLU
Assistant(s)
Aim
The scope of an advanced robotics course is expansive, delving into intricate aspects of robot motion, control systems, and sensor technologies. It encompasses advanced topics like differential kinematics, path planning, and trajectory generation, offering students a comprehensive understanding of robot dynamics and control. The course also explores cutting-edge control techniques such as force control, and impedance control, along with admittance control. Students gain hands-on experience in robotics software development, utilizing frameworks and programming languages essential for advanced applications.
Course Content
This course contains; Definition of Robotics, Robot components and types ,Derivations of the rotation operators to describe and control the orientation of robotic end-effectors. ,Homogeneous transformations that represent the position and orientation of a robotic system in a unified mathematical framework.,Derivation of Forward Kinematics to determine the end-effector position of a robot given its joint variables,Derivation of Inverse kinematics problems to compute the joint variables required to achieve a desired end-effector position and orientation.,The concept of velocity kinematics and its application to analyze the relationship between joint velocities and end-effector velocities in a robotic system.,Derivation of the equations of motion for robotic systems using the Newton-Euler method: Calculation of inertia properties, including mass, center of mass, and inertia tensor, for individual rigid bodies in a robotic system. Apply the recursive Newton-Euler algorithm to compute velocities and accelerations in a robotic manipulator. ,Analyses joint forces and torques, expressing them in terms of external forces, joint accelerations, and inertia properties. Implementation of dynamic simulations of robotic manipulators using the Newton-Euler method.,Derivation of Lagrange's equations in describing the dynamics of mechanical systems. ,Solving dynamics problems in the presence of constraints using Euler-Lagrange equations, such as closed-loop kinematic structures. ,Force Control Fundamentals: 1)Understanding the principles of force control in robotics. 2)Exploring the role of force sensors and tactile feedback in robotic systems. 3) Analyzing the challenges and applications of force control in various scenarios.,Adaptive Control Techniques: 1) Studying adaptive control techniques applicable to robotic systems. 2) Examining how adaptive control can be utilized to enhance the performance of robots in response to changing environmental conditions. ,Real-time Feedback and Control:
Implementing real-time feedback mechanisms for force control.
,Examining the importance of closed-loop control systems in adapting to dynamic changes..
Dersin Öğrenme Kazanımları
Teaching Methods
Assessment Methods
Solve the complexities of robot motion involves understanding and analyzing aspects such as differential kinematics, path planning, and trajectory generation
2, 21
A, D, E, F
Apply force control, impedance control, and admittance control to effectively govern and optimize robotic behaviour.
2, 21
A, D, E, F
Applies the theoretical background acquired in robot dynamics and control in practical scenarios.
2, 21
A, D, E, F
Gain practical experience in robotics software development, utilizing essential frameworks and programming languages for advanced applications and system integration.
2, 21
A, D, E
Apply design principles, including materials, and fabrication methods for prototyping robotic systems.
2
D, F
Teaching Methods:
2: Project Based Learning Model, 21: Simulation Technique
Assessment Methods:
A: Traditional Written Exam, D: Oral Exam, E: Homework, F: Project Task
Course Outline
Order
Subjects
Preliminary Work
1
Definition of Robotics, Robot components and types
Course presentation
2
Derivations of the rotation operators to describe and control the orientation of robotic end-effectors.
Course presentation
3
Homogeneous transformations that represent the position and orientation of a robotic system in a unified mathematical framework.
Course presentation
4
Derivation of Forward Kinematics to determine the end-effector position of a robot given its joint variables
Course presentation
5
Derivation of Inverse kinematics problems to compute the joint variables required to achieve a desired end-effector position and orientation.
Course presentation
6
The concept of velocity kinematics and its application to analyze the relationship between joint velocities and end-effector velocities in a robotic system.
Course slides
7
Derivation of the equations of motion for robotic systems using the Newton-Euler method: Calculation of inertia properties, including mass, center of mass, and inertia tensor, for individual rigid bodies in a robotic system. Apply the recursive Newton-Euler algorithm to compute velocities and accelerations in a robotic manipulator.
Course presentation
8
Analyses joint forces and torques, expressing them in terms of external forces, joint accelerations, and inertia properties. Implementation of dynamic simulations of robotic manipulators using the Newton-Euler method.
Course presentation
9
Derivation of Lagrange's equations in describing the dynamics of mechanical systems.
Course presentation
10
Solving dynamics problems in the presence of constraints using Euler-Lagrange equations, such as closed-loop kinematic structures.
Course presentation
11
Force Control Fundamentals: 1)Understanding the principles of force control in robotics. 2)Exploring the role of force sensors and tactile feedback in robotic systems. 3) Analyzing the challenges and applications of force control in various scenarios.
Course presentation
12
Adaptive Control Techniques: 1) Studying adaptive control techniques applicable to robotic systems. 2) Examining how adaptive control can be utilized to enhance the performance of robots in response to changing environmental conditions.
Course presentation
13
Real-time Feedback and Control:
Implementing real-time feedback mechanisms for force control.
Course presentation
14
Examining the importance of closed-loop control systems in adapting to dynamic changes.
Course presentation
Resources
Robot Dynamics and Control, Spong, Vidyasagar, John Wiley and Sons, 1989.
• MATLAB Control System Toolbox, SIMULINK (Code Examples)
• Arduino (Built-in Examples) https://www.arduino.cc/en/Tutorial/BuiltInExamples
Course Contribution to Program Qualifications
Course Contribution to Program Qualifications
No
Program Qualification
Contribution Level
1
2
3
4
5
1
An ability to apply knowledge of mathematics, science, and engineering
X
2
An ability to identify, formulate, and solve engineering problems
X
3
An ability to design a system, component, or process to meet desired needs within realistic constraints such as economic, environmental, social, political, ethical, health and safety, manufacturability, and sustainability
X
4
An ability to use the techniques, skills, and modern engineering tools necessary for engineering practice
X
5
An ability to design and conduct experiments, as well as to analyze and interpret data
X
6
An ability to function on multidisciplinary teams
X
7
An ability to communicate effectively
X
8
A recognition of the need for, and an ability to engage in life-long learning
X
9
An understanding of professional and ethical responsibility
X
10
A knowledge of contemporary issues
X
11
The broad education necessary to understand the impact of engineering solutions in a global, economic, environmental, and societal context
