DESIGN of BIO. DEVICES for PHY. THER.and CLIN. ASS.

AIM

This course contains; Overview about the course, Introduction to Robotics, Robotics Applications, Rigid Motions, Rotation Matrices, Euler Angles, Roll-Pitch-Yaw Angles,Homogenous Transformations, Skew Symmetric Matrices, Angular Velocity and Acceleration,Forward Kinematics, Inverse Kinematics,Velocity Kinematics, Derivation of Jacobian Matrix, Singularity,Dynamics, Euler – Lagrange Formulations, Illustration of the Method on Planar Elbow Manipulator, Illustration of the Method on Planar Elbow Manipulator,Dynamics, Newton-Euler Formulation, Illustration of the Method on Planar Elbow Manipulator,Independent Joint Control, Actuator Dynamics, Set-Point Tracking using a PD&PID Compensator,Dynamics, PD& PID Control,State-Space Design, State Feedback Control, Observers,Feedforward Control and Computed Torque,Multivariable Control for Robotic Manipulators: Inverse Dynamics, Cartesian Control,Contact Modeling, Force Control,Stiffness and Compliance, Inverse Dynamics in Task Space, Impedance Control, Hybrid Position- Force Control, Project Presentations.

CONTENT

This course contains; Overview about the course, Introduction to Robotics, Robotics Applications, Rigid Motions, Rotation Matrices, Euler Angles, Roll-Pitch-Yaw Angles,Homogenous Transformations, Skew Symmetric Matrices, Angular Velocity and Acceleration,Forward Kinematics, Inverse Kinematics,Velocity Kinematics, Derivation of Jacobian Matrix, Singularity,Dynamics, Euler – Lagrange Formulations, Illustration of the Method on Planar Elbow Manipulator, Illustration of the Method on Planar Elbow Manipulator,Dynamics, Newton-Euler Formulation, Illustration of the Method on Planar Elbow Manipulator,Independent Joint Control, Actuator Dynamics, Set-Point Tracking using a PD&PID Compensator,Dynamics, PD& PID Control,State-Space Design, State Feedback Control, Observers,Feedforward Control and Computed Torque,Multivariable Control for Robotic Manipulators: Inverse Dynamics, Cartesian Control,Contact Modeling, Force Contro,Stiffness and Compliance, Inverse Dynamics in Task Space, Impedance Control,,Hybrid Position- Force Control.

1. 1

   Generate smooth trajectories for appropriate actuation and reduction mechanisms of robotic designs

   Taught by: Problem Solving Method, Self Study Method, Question - Answer Technique, Project Based Learning Model, Experiential Learning, Lecture Method · Assessed by: Traditional Written Exam, Oral Exam, Project Task

2. 2

   Classify main types of industrial and non-industrial robots

   Taught by: Problem Solving Method, Self Study Method, Question - Answer Technique, Project Based Learning Model, Experiential Learning, Lecture Method · Assessed by: Traditional Written Exam, Oral Exam, Project Task

3. 3

   Use various mathematical tools for the single-chain robot kinematic and dynamic analysis and the fundamental control methodologies for robot tracking and force control

   Taught by: Problem Solving Method, Self Study Method, Question - Answer Technique, Project Based Learning Model, Experiential Learning, Lecture Method · Assessed by: Traditional Written Exam, Oral Exam, Project Task

4. 4

   Choose appropriate actuation and reduction mechanisms for robotic designs

   Taught by: Problem Solving Method, Self Study Method, Question - Answer Technique, Project Based Learning Model, Experiential Learning, Lecture Method · Assessed by: Traditional Written Exam, Oral Exam, Project Task

5. 5

   Identify various medical robotic architectures in robotic systems.

   Taught by: Problem Solving Method, Self Study Method, Question - Answer Technique, Project Based Learning Model, Experiential Learning, Lecture Method · Assessed by: Traditional Written Exam, Homework, Project Task

WEEKLY PLAN

1. WEEK 1

   Overview about the course, Introduction to Robotics, Robotics Applications, Rigid Motions, Rotation Matrices, Euler Angles, Roll-Pitch-Yaw Angles

   Preparation: Course presentation

2. WEEK 2

   Homogenous Transformations, Skew Symmetric Matrices, Angular Velocity and Acceleration

   Preparation: Course presentation

3. WEEK 3

   Forward Kinematics, Inverse Kinematics

   Preparation: Course presentation

4. WEEK 4

   Velocity Kinematics, Derivation of Jacobian Matrix, Singularity

   Preparation: Course presentation

5. WEEK 5

   Dynamics, Euler – Lagrange Formulations, Illustration of the Method on Planar Elbow Manipulator, Illustration of the Method on Planar Elbow Manipulator

   Preparation: Course presentation

6. WEEK 6

   Dynamics, Newton-Euler Formulation, Illustration of the Method on Planar Elbow Manipulator

   Preparation: Course presentation

7. WEEK 7

   Independent Joint Control, Actuator Dynamics, Set-Point Tracking using a PD&PID Compensator

   Preparation: Course presentation

8. WEEK 8

   Dynamics, PD& PID Control

   Preparation: Course presentation

9. WEEK 9

   State-Space Design, State Feedback Control, Observers

   Preparation: Course presentation

10. WEEK 10

    Feedforward Control and Computed Torque

    Preparation: Course presentation

11. WEEK 11

    Multivariable Control for Robotic Manipulators: Inverse Dynamics, Cartesian Control

    Preparation: Course presentation

12. WEEK 12

    Contact Modeling, Force Contro

    Preparation: Course presentation

13. WEEK 13

    Stiffness and Compliance, Inverse Dynamics in Task Space, Impedance Control,

    Preparation: Course presentation

14. WEEK 14

    Hybrid Position- Force Control

    Preparation: Course presentation

ASSESSMENT

• Rate of Midterm Exam to Success50%
• Rate of Final Exam to Success50%

WORKLOAD

READING

• Robot Dynamics and Control Spong Vidyasagar 1989 John Wiley and Sons1. MATLAB Control System Toolbox, SIMULINK (Code Examples) 2. Arduino (Built-in Examples) https://www.arduino.cc/en/Tutorial/BuiltInExamples

TEACHING STAFF

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