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 Lisans Öğrencileri Lisansüstü Adayları

Credits: 3

Coordinator: M. Kemal Cılız, Assoc. Professor of Electrical Engineering

Goals: This course aims to give the students the fundamental concepts of robotic manipulators. It covers robot kinematics and dynamics. The servo control of manipulators is also covered.  

Learning Objectives:
At the end of this course, students will be able to:

1.    Understand the fundamental concepts of robotic manipulators.
2.    Derive kinematic equations for ay given robotic manipulator.
3.    Derive manipulator dynamics for a any given robot arm.
4.    Design a simple feedback controller for trajectory following of a manipulator.
5.    Design model based (computed torque) controller for a robotic manipulator.

    John Craig, Introduction to Robotics: Mechanics and Control, 2nd Ed., Addison Wesley, 1989.
    Other Robotics Textbooks and Class Notes.

Prerequisites by Topic:

1.    Linear algebra
2.    Ordinary differential equations
3.    Classical control theory

Topics :

1) Introduction and a general perspective on Robotics. Objects in 3-D
Space. Positions, orientations and frames. Translations, rotations, transformations. Transformation arithmetic (2 weeks).

2) Different manipulator designs. Manipulator kinematics. Frame assignments. Affixing frames to links. Computational considerations. Actuator space, joint space concepts (2 weeks).

3) Inverse kinematics. Algebraic versus geometric computation. (1 week).

4) Manipulator dynamics. Acceleration of a rigid body. Structure of manipulator dynamics. Lagrangian formulation of manipulator dynamics. 2 link manipulator dynamics. (2 weeks).

5) Linear control of manipulators. Feedback control techniques. Servo and regulatory control of manipulators. Trajectory following control. Modeling and control of single link arm (2  weeks).

6) Dynamic simulation concepts. Simulation exercise. Disturbance rejection.
(1 week).

7) Nonlinear control of manipulators. Multi input multi output control.
 Feedback linearizing control.  (2 weeks).

8) Stability concepts. Lyapunov stability analysis of manipulator control techniques.
Adaptive control concepts. Adaptive control of robotic manipulators. (2 weeks).

Course Structure:
The class meets for three lectures a week, each consisting of a 50-minute sessions. 4 sets of homework problems are assigned per semester.  There are one in-class mid-term exam and a final exam.

Computer Resources: Students are encouraged to use MATLAB to solve their homework problems..

Laboratory Resources: None.


        Midterm Exam      %30
        Final            %45
        HWs            %15
        Attendance        %10

Outcome Coverage:

(a) Apply math, science and engineering knowledge. This course covers the basic fundamentals for robot control. It requires linear algebra and differential equations  knowledge and ability to apply mathematical fundamentals for modeling.
(c) Design a system, component or process to meet desired needs.  The students are required to design simple and complex (model based) controllers for robot manipulation.
(e) Ability to identify formulate and solve engineering problems. The course teaches the fundamentals to model a robotic manipulator.  Given a certain manipulation task the student is required to understand and formulate the necessary control architecture.
 (k) Use of modern engineering tools.   Computer simulation tools are used to better understand the manipulator dynamics. A specific homework is given to simulate and control a two link arm.


Prepared By: Kemal  Ciliz



Boğaziçi Üniversitesi - Elektrik ve Elektronik Mühendisliği Bölümü

34342 - Bebek / İSTANBUL

Tel: +90 212 359 64 14
Fax: +90 212 287 24 65







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