Öğretmen Giriş
Öğrenci Giriş
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Sabancı Üniversitesi
Mühendislik ve Doğa Bilimleri Fakültesi
Endüstri Mühendisliği
This course is designed to equip students with fundamental theories and computational methodologies that are used in design and analysis of robotic systems. Students will learn how to analytically formulate kinematic and dynamic equations for robot manipulators, how to synthesize trajectory and force tracking controllers, as well as how to utilize numerical algorithms to simulate and real-time hardware-in-the-loop controllers to implement such closed-loop control systems.
During the fi rst part of the course, students will be introduced to rigid motions in space and homogeneous transformations, forward and inverse kinematics at confi guration and velocity levels, and Lagrange's equations. Computer-aided dynamic simulations with numerical time integration methods will be exercised.
During the second part of the course, students will be introduced to path and trajectory planning methods, as well as fundamental techniques for robot control. In particular, independent joint control, multi-variable control, force and impedance control approaches will be introduced and implemented on hardware.
The emphasis in this course is an integrated understanding of the kinematic/dynamic modeling and control concepts for robotic manipulators. Real-time hardware-in-the-loop implementation of the controllers is also emphasized such that students can experience the control challenges of the real world, such as sensor noise and unmodeled system dynamics.
This course involves a hands-on laboratory component (ME 403L) and a team project where the students are expected to implement their algorithms on sample robotic platforms.
ME 403 Robot Bilime Giriş dersinden özel ders almak için bizimle iletişime geçebilirsiniz.
Henüz değerlendiren olmadı.İlk değendiren siz olun.
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