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COURSE DESCRIPTION AND APPLICATION INFORMATION

Course Name Code Semester T+A+L (hour/week) Type (C / O) Local Credit ECTS
Robot Control Project MTE 451 Spring 03+02+00 Elective 4 8
Academic Unit: Department of Mechatronics Engineering
Mode of Delivery: Face to face
Prerequisites: Fundamental concepts of control systems
Language of Instruction: English
Level of Course Unit: Undergraduate
Course Coordinator: - -
Course Objectives: To equip students with basic concepts of control of robot manipulators such as kinematics, inverse kinematics, dynamics and control algorithms for robot manipulators.
Course Contents: Review of control theory, design methods such as PID control, state feedback, optimal control, manipulator dynamics, inverse kinematics; control of multi-link robot manipulators; applications.
Learning Outcomes of the Course Unit (LO):
  • 1- Understanding of degrees of freedom i robot manipulators
  • 2- Ability of computing the joint angles corresponding to a given trajectory
  • 3- Ability to define the dynamics of multi-link robots using Newton-Euler ve Lagrange formulations
  • 4- Ability to apply robot control algorithms
Planned Learning Activities and Teaching Methods: Supervision and mentoring of a project covering the whole term


WEEKLY SUBJECTS AND RELATED PREPARATIONS

WeekSubjectsRelated Preperation
1 Introduction and fundamental concepts
2 Fundamental control algorithms
3 Project proposals and planning, robot dynamics
4 Project kick-off meetings, robot dynamics
5 Analysis and verification, inverse kinematics
6 Analysis and verification, inverse kinematics
7 Analysis and verification
8 Controller design
9 Controller design
10 Programming studies
11 Programming studies
12 Integration and testing
13 Integration and testing
14 Project presentations and evaluation


REQUIRED AND RECOMMENDED READING

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OTHER COURSE RESOURCES



ASSESSMENT METHODS AND CRITERIA

Semester RequirementsNumberPercentage of Grade (%)
Project 1 50
Applications (including labs) 4 20
Project Reports 1 30
Total: 6 100


WORKLOAD

EventsCountDuration (Hours)Total Workload (hour)
Course Hours14570
Project18080
Other Practices (seminar,studio critics,workshop, etc.)15050
Total Workload (hour):200


THE RELATIONSHIP BETWEEN COURSE LEARNING OUTCOMES (LO) AND PROGRAM QUALIFICATIONS (PQ)

# PQ1 PQ2 PQ3 PQ4 PQ5 PQ6 PQ7 PQ8 PQ9 PQ10 PQ11
LO1                      
LO2                      
LO3                      
LO4