Erciyes University - Info Package

Course unit title	Level of course unit	Course unit code	Type of course unit	Semester of course unit	Local credit	ECTS credit	Syllabus
CONTROL OF ROBOTS	Third cycle	ME520		2	7.50	7.50	Print

Description of course unit

Prerequisites and course requisities	None
Language of instruction	English
Coordinator	PROF. DR. İBRAHİM UZMAY
Lecturer(s)	PROF. DR. İBRAHİM UZMAY
Teaching assitant(s)	Res. Ass. Ömer Faruk ERGİN
Mode of delivery	Face to face
Course objective	To define control principles of robot arm mechanisms in systems with plane and three-dimensional motions.
Course description	Manipulator dynamics; Newton-Euler dynamic formulation, general structure of dynamic equation, dynamic simulation. Trajectory generation. Position control; control law partitioning, present industrial control systems, adaptive control. New approaches in robot control.

Course contents

1	Newton-Euler dynamic formulation
2	Newton-Euler dynamic formulation
3	Newton-Euler dynamic formulation
4	Trajectory production
5	Trajectory production
6	Position control; Division of control laws
7	Position control; Division of control laws
8	Position control; Division of control laws
9	Midterm exam
10	Existing industrial control systems, adaptive control
11	Existing industrial control systems, adaptive control
12	Existing industrial control systems, adaptive control
13	Applications
14	Applications
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16
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18
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20

Learning outcomes of the course unit

1	Newton-Euler dynamic formulation
2	Trajectory production
3	Position control
4	Division of control laws
5	Existing industrial control systems
6	Adaptive control
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8
9
10

*Contribution level of the course unit to the key learning outcomes

1
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45
Number of stars refer to level of contribution from 1 (the least) to 5 (the most)

Planned learning activities, teaching methods and ECTS work load

	Quantity	Time (hour)	Quantity*Time (hour)
Lectures (face to face teaching)	14	3	42
Study hours out of classroom (study before and after the class)	14	5	70
Homework	1	18	18
Presentation / seminar	1	8	8
Quiz	0	0	0
Preparation for midterm exams	1	8	8
Midterm exams	1	2	2
Project (term paper)	0	0	0
Laboratuar	0	0	0
Field study	0	0	0
Preparation for final exam	1	20	20
Final exam	1	2	2
Research	4	3	12
Total work load			182
ECTS			7.50

Assessment methods and criteria

Evaluation during semester	Quantity	Percentage
Midterm exam	1	50
Quiz	0	0
Homework	1	50
Semester total		100
Contribution ratio of evaluation during semester to success		40
Contribution ratio of final exam to success		60
General total		100

Recommended and required reading

Textbook	• Paul p. Richard, Robot Manipulators, The MIT Pres • Siciliano B., Sciavicco L. , Modeling and Control of Robot Manipulators • Craig John J., İntroduction to Robotics, Addisoon Wesley Longman
Additional references	• Paul p. Richard, Robot Manipulators, The MIT Pres • Siciliano B., Sciavicco L. , Modeling and Control of Robot Manipulators • Craig John J., İntroduction to Robotics, Addisoon Wesley Longman

Files related to the course unit