1. SECOND CYCLE - MASTER'S DEGREE
  2. THE GRADUATE SCHOOL OF NATURAL AND APPLIED SCIENCES
  3. ELECTRICAL AND ELECTRONICS ENGINEERING DEPARTMENT
  4. 1181 Electrical and Electronics Engineering
Course Information Course Learning Outcomes Course's Contribution To Program ECTS Workload Course Details
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COURSE INFORMATION
Course CodeCourse TitleL+P HourSemesterECTS
ELK 593CONTROL OF ROBOT MANIPULATORS3 + 01st Semester7,5

COURSE DESCRIPTION
Course Level Master's Degree
Course Type Elective
Course Objective To teach the fundamental concepts and techniquesabout robot manipulators.
Course Content Introduction and definitions. Stability theory. Structure and properties of robot dynamic equation. Cartesian and other dynamics, actuator dynamics. Computed-torque control. Adaptive control. Force control.
Prerequisites No the prerequisite of lesson.
Corequisite No the corequisite of lesson.
Mode of Delivery Face to Face

COURSE LEARNING OUTCOMES
1Analysis of dynamical systems
2Stability concepts of nonlinear systems
3Control of complex dynamic systems

COURSE'S CONTRIBUTION TO PROGRAM
PO 01PO 02PO 03PO 04PO 05PO 06PO 07PO 08PO 09PO 10PO 11
LO 001           
LO 002           
LO 003           
Sub Total           
Contribution00000000000

ECTS ALLOCATED BASED ON STUDENT WORKLOAD BY THE COURSE DESCRIPTION
ActivitiesQuantityDuration (Hour)Total Work Load (Hour)
Course Duration (14 weeks/theoric+practical)14342
Hours for off-the-classroom study (Pre-study, practice)14684
Mid-terms13030
Final examination13939
Total Work Load

ECTS Credit of the Course





195

7,5
COURSE DETAILS
 Select Year   


 Course TermNoInstructors
Details 2021-2022 Fall1HATİCE HİLAL EZERCAN KAYIR


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Course Details
Course Code Course Title L+P Hour Course Code Language Of Instruction Course Semester
ELK 593 CONTROL OF ROBOT MANIPULATORS 3 + 0 1 Turkish 2021-2022 Fall
Course Coordinator  E-Mail  Phone Number  Course Location Attendance
Asts. Prof. Dr. HATİCE HİLAL EZERCAN KAYIR hezercan@pau.edu.tr MUH A0312 %
Goals To teach the fundamental concepts and techniquesabout robot manipulators.
Content Introduction and definitions. Stability theory. Structure and properties of robot dynamic equation. Cartesian and other dynamics, actuator dynamics. Computed-torque control. Adaptive control. Force control.
Topics
WeeksTopics
1 Introduction
2 Nonlinear Systems
3 Stability Analysis
4 Control in Nonlinear Systems
5 Robot Manipulator Dynamics
6 Analysis of Manipulator Dynamic Equations
7 Computed-Torque Control -I
8 Computed-Torque Control -II
9 Computed-Torque Like Control -I
10 Computed-Torque Like Control -II
11 Adaptive Control - I
12 Adaptive Control - II
13 Force Control
14 Hybrid Force-Position Control
Materials
Materials are not specified.
Resources
ResourcesResources Language
Robot Manipulator Control Theory and Practice, Second Edition, Frank L.Lewis, Darren M.Dawson, Chaouki T.Abdallah , Marcel Dekker, 2004.English
Applied Nonlinear Control, Jean-Jacques E. Slotine, Weiping Li, Prentice-Hall, 1991.English
Course Assessment
Assesment MethodsPercentage (%)Assesment Methods Title
Final Exam50Final Exam
Midterm Exam50Midterm Exam
L+P: Lecture and Practice
PQ: Program Learning Outcomes
LO: Course Learning Outcomes