MECH522 PRINCIPLES OF ROBOTICS
| Course Code: |
3650522 |
| METU Credit (Theoretical-Laboratory hours/week): |
3(3-0) |
| ECTS Credit: |
8.0 |
| Department: |
Mechanical Engineering |
| Language of Instruction: |
English |
| Level of Study: |
Masters |
| Course Coordinator: |
|
| Offered Semester: |
Fall and Spring Semesters. |
Course Content
Robotics and robotic manipulators. Hartenberg-Denavit convention. Rotation matrices. Homogeneous transformations. Direct and inverse kinematics. Jacobian matrix. Velocity and acceleration analyses. Dynamic force analysis via Newton-Euler formulation. Motion equations via Lagrangian formulation. Trajectory planning. Independent joint control. Control with computed torque method. Compliant motion control. Hybrid control with position and force feedback.
