ADVANCED ROBOTICS

AIM

The scope of an advanced robotics course is expansive, delving into intricate aspects of robot motion, control systems, and sensor technologies. It encompasses advanced topics like differential kinematics, path planning, and trajectory generation, offering students a comprehensive understanding of robot dynamics and control. The course also explores cutting-edge control techniques such as force control, and impedance control, along with admittance control. Students gain hands-on experience in robotics software development, utilizing frameworks and programming languages essential for advanced applications.

CONTENT

This course contains; Definition of Robotics, Robot components and types ,Derivations of the rotation operators to describe and control the orientation of robotic end-effectors. ,Homogeneous transformations that represent the position and orientation of a robotic system in a unified mathematical framework.,Derivation of Forward Kinematics to determine the end-effector position of a robot given its joint variables,Derivation of Inverse kinematics problems to compute the joint variables required to achieve a desired end-effector position and orientation.,The concept of velocity kinematics and its application to analyze the relationship between joint velocities and end-effector velocities in a robotic system.,Derivation of the equations of motion for robotic systems using the Newton-Euler method: Calculation of inertia properties, including mass, center of mass, and inertia tensor, for individual rigid bodies in a robotic system. Apply the recursive Newton-Euler algorithm to compute velocities and accelerations in a robotic manipulator. ,Analyses joint forces and torques, expressing them in terms of external forces, joint accelerations, and inertia properties. Implementation of dynamic simulations of robotic manipulators using the Newton-Euler method.,Derivation of Lagrange's equations in describing the dynamics of mechanical systems. ,Solving dynamics problems in the presence of constraints using Euler-Lagrange equations, such as closed-loop kinematic structures. ,Force Control Fundamentals: 1)Understanding the principles of force control in robotics. 2)Exploring the role of force sensors and tactile feedback in robotic systems. 3) Analyzing the challenges and applications of force control in various scenarios.,Adaptive Control Techniques: 1) Studying adaptive control techniques applicable to robotic systems. 2) Examining how adaptive control can be utilized to enhance the performance of robots in response to changing environmental conditions. ,Real-time Feedback and Control: Implementing real-time feedback mechanisms for force control. ,Examining the importance of closed-loop control systems in adapting to dynamic changes..

1. 1

   Solve the complexities of robot motion involves understanding and analyzing aspects such as differential kinematics, path planning, and trajectory generation

   Taught by: Project Based Learning Model, Simulation Technique · Assessed by: Traditional Written Exam, Oral Exam, Homework, Project Task

2. 2

   Apply force control, impedance control, and admittance control to effectively govern and optimize robotic behaviour.

   Taught by: Project Based Learning Model, Simulation Technique · Assessed by: Traditional Written Exam, Oral Exam, Homework, Project Task

3. 3

   Applies the theoretical background acquired in robot dynamics and control in practical scenarios.

   Taught by: Project Based Learning Model, Simulation Technique · Assessed by: Traditional Written Exam, Oral Exam, Homework, Project Task

4. 4

   Gain practical experience in robotics software development, utilizing essential frameworks and programming languages for advanced applications and system integration.

   Taught by: Project Based Learning Model, Simulation Technique · Assessed by: Traditional Written Exam, Oral Exam, Homework

5. 5

   Apply design principles, including materials, and fabrication methods for prototyping robotic systems.

   Taught by: Project Based Learning Model · Assessed by: Oral Exam, Project Task

WEEKLY PLAN

1. WEEK 1

   Definition of Robotics, Robot components and types

   Preparation: Course presentation

2. WEEK 2

   Derivations of the rotation operators to describe and control the orientation of robotic end-effectors.

   Preparation: Course presentation

3. WEEK 3

   Homogeneous transformations that represent the position and orientation of a robotic system in a unified mathematical framework.

   Preparation: Course presentation

4. WEEK 4

   Derivation of Forward Kinematics to determine the end-effector position of a robot given its joint variables

   Preparation: Course presentation

5. WEEK 5

   Derivation of Inverse kinematics problems to compute the joint variables required to achieve a desired end-effector position and orientation.

   Preparation: Course presentation

6. WEEK 6

   The concept of velocity kinematics and its application to analyze the relationship between joint velocities and end-effector velocities in a robotic system.

   Preparation: Course slides

7. WEEK 7

   Derivation of the equations of motion for robotic systems using the Newton-Euler method: Calculation of inertia properties, including mass, center of mass, and inertia tensor, for individual rigid bodies in a robotic system. Apply the recursive Newton-Euler algorithm to compute velocities and accelerations in a robotic manipulator.

   Preparation: Course presentation

8. WEEK 8

   Analyses joint forces and torques, expressing them in terms of external forces, joint accelerations, and inertia properties. Implementation of dynamic simulations of robotic manipulators using the Newton-Euler method.

   Preparation: Course presentation

9. WEEK 9

   Derivation of Lagrange's equations in describing the dynamics of mechanical systems.

   Preparation: Course presentation

10. WEEK 10

    Solving dynamics problems in the presence of constraints using Euler-Lagrange equations, such as closed-loop kinematic structures.

    Preparation: Course presentation

11. WEEK 11

    Force Control Fundamentals: 1)Understanding the principles of force control in robotics. 2)Exploring the role of force sensors and tactile feedback in robotic systems. 3) Analyzing the challenges and applications of force control in various scenarios.

    Preparation: Course presentation

12. WEEK 12

    Adaptive Control Techniques: 1) Studying adaptive control techniques applicable to robotic systems. 2) Examining how adaptive control can be utilized to enhance the performance of robots in response to changing environmental conditions.

    Preparation: Course presentation

13. WEEK 13

    Real-time Feedback and Control: Implementing real-time feedback mechanisms for force control.

    Preparation: Course presentation

14. WEEK 14

    Examining the importance of closed-loop control systems in adapting to dynamic changes.

    Preparation: Course presentation

ASSESSMENT

• Rate of Midterm Exam to Success30%
• Rate of Final Exam to Success70%

WORKLOAD

READING

• Robot Dynamics and Control, Spong, Vidyasagar, John Wiley and Sons, 1989.
• • MATLAB Control System Toolbox, SIMULINK (Code Examples) • Arduino (Built-in Examples) https://www.arduino.cc/en/Tutorial/BuiltInExamples

TEACHING STAFF

• Assist.Prof. Elif HOCAOĞLUCOORDINATOR
• Assist.Prof. Elif HOCAOĞLU