MECHATRONICS ENGINEERING (ENGLISH, NONTHESIS)
Master	TR-NQF-HE: Level 7	QF-EHEA: Second Cycle	EQF-LLL: Level 7

Course Introduction and Application Information

Course Code	Course Name	Semester	Theoretical	Practical	Credit	ECTS
MCH5462	Advanced Robotics	Spring	3	0	3	8

Basic information

Language of instruction:	English
Type of course:	Must Course
Course Level:
Mode of Delivery:	Face to face
Course Coordinator :	Assoc. Prof. MEHMET BERKE GÜR
Course Lecturer(s):	Assoc. Prof. MEHMET BERKE GÜR
Recommended Optional Program Components:	None
Course Objectives:	The course aims to introduce advanced concepts in robot manipulation and control. The course objectives include: 1) Outlining basic kinematic characteristics of robot manipulators, 2) Providing a thorough analysis of robot dynamics, 3) Contrasting the joint space and operational space formulations for robot dynamics, 4) Introducing fundamental motion control strategies in the joint and operational spaces, 5) Describing constraints, 6) Outlining fundamental force control strategies, 7) Introducing advanced path planning with potential fields, 8) Explaining haptic rendering and haptic control of robot manipulators.

Learning Outcomes

The students who have succeeded in this course;
I. Perform a kinematic and kinetic analysis of a robot,
II. Understand the significance of different force terms in the equation of motion of robot manipulators,
III. Implement basic motion and force control strategies for robots in interaction with the environment,
IV. Identify the type of constraints,
V. Implement and simulate advanced path planning strategies,
VI. Define haptics and its applications in the field of robotics,
VII. Evaluate robot control strategies through software simulations,
VIII. Program a robot to accomplish a rudimentary task,

Course Content

Overview of the course, Discussion of project administration and possible projects, lab resources, formation of Project groups, Spatial transformations and robot kinematics, Velocity kinematics, generalized coordinates, constraints
The Newton-Euler formulation, The Langrangian formulation, Evaluation of progress, Independent joint control, inverse Dynamics control
Derivation of equations of motion in operational space, inverse Dynamics control, Inverse Dynamics control, Hybrid control, impedance control
Potential fields, Haptic rendering and haptic control of robots

Weekly Detailed Course Contents

Week	Subject	Related Preparation
1)	Introduction and road map
2)	Discussion of project administration and possible projects, lab resources, formation of Project groups
3)	Spatial transformations and robot kinematics
4)	Velocity kinematics, the Jacobian
5)	Groups present Project ideas
6)	Equations of motion, generalized coordinates, constraints
7)	Robot Dynamics: The Newton-Euler formulation
8)	Robot Dynamics: The Langrangian formulation
9)	Evaluation of project progress
10)	Motion Control in Joint Space, Independent joint control, inverse Dynamics control
11)	Motion Control in Operational Space, Derivation of equations of motion in operational space, inverse Dynamics control
12)	Force Control, Inverse Dynamics control, Hybrid control, impedance control
13)	Advanced Path Planning, Potential fields
14)	Haptic rendering and haptic control of robots

Sources

Course Notes / Textbooks:	Robot Modeling and Control, M. W. Spong et al., Wiley (2006).
References:	Yok

Evaluation System

Semester Requirements	Number of Activities	Level of Contribution
Attendance	10	% 10
Project	1	% 50
Final	1	% 40
Total		% 100
PERCENTAGE OF SEMESTER WORK		% 10
PERCENTAGE OF FINAL WORK		% 90
Total		% 100

ECTS / Workload Table

Activities	Number of Activities	Duration (Hours)	Workload
Course Hours	14	3	42
Application	13	2	26
Study Hours Out of Class	14	9	126
Total Workload			194

Contribution of Learning Outcomes to Programme Outcomes

No Effect	1 Lowest	2 Low	3 Average	4 High	5 Highest

Program Outcomes

Level of Contribution