Academic Catalog

ME522 PRINCIPLES OF ROBOTICS

Course Code: 5690522
METU Credit (Theoretical-Laboratory hours/week): 3(3-0)
ECTS Credit: 8.0
Department: Mechanical Engineering
Language of Instruction: English
Level of Study: Graduate
Course Coordinator: Prof.Dr. MUSTAFA KEMAL ZGREN
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 feedbacks. (S)