CMP 755 Robotics / BİL 755 Robotik

Dersle İlgili Personel

Duyurular

  • Dersin Künyesi
  • Bir ya da iki sayfadan oluşan proje önerilerinin Ekim ayı sonuna kadar basılı olarak teslim edilmesi gereklidir.
  • Projeler tek kişilik olacaktır.
  • Proje raporu İngilizce yazılmalıdır.
  • Proja raporu olarak 2 sütun IEEE konferans bildirisi formatı kullanılabilir, örnek için tıklayınız

Dersin Amacı

  • Robot türlerinin tanınması, kinematik ve dinamik ilişkilerin elde edilmesi. Doğrusal kontrol ve doğrusal olmayan kontrol yöntemlerinin irdelenmesi.

Dersin İçeriği

  • Robotik bilimine giriş, robot türleri, UGV, UAV, manipulatörler, sensörler, eyleyiciler
  • Dönme matrisleri ve homojen transformasyon matrisleri
  • Kinematik ve ters kinematik
  • Denavit-Hartenberg parametrizasyonu (video)
  • Hız ve Jacobian konusu
  • Euler-Lagrange yöntemi ile robot dinamiğinin elde edilmesi
  • Doğrusal kontrolün özeti
  • Robot kontrolü, PID kontrol, hesaplanmış tork kontrol, kayan kipli kontrol, bulanık kontrol
  • Yörünge planlama

Plan

  • Ders Saatleri: Salı 13:00 - 16:00, D9 Sınıfı

Notlandırma

  • Final Katkısı %60
  • Proje Katkısı %40 (Proje sözlü sunumu %20, Proje raporu %20)

Kaynak Kitaplar

  1. John Craig, Introduction to Robotics -- Mechanics and Control, Third Edition, Prentice Hall, 2005.
  2. Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani , Giuseppe Oriolo, Robotics: Modelling, Planning and Control (Advanced Textbooks in Control and Signal Processing) , Springer; February 11, 2011ISBN 978-1846286414
  3. Reza N. Jazar, Theory of Applied Robotics: Kinematics, Dynamics, and Control, Springer; 2nd ed. edition (June 21, 2010), ISBN-13: 978-1441917492
  4. Dario Floreano, Jean-Christophe Zufferey, Mandyam V. Srinivasan, Charlie Ellington, Flying Insects and Robots, Springer;(December 3, 2009) ISBN-13: 978-3540893929

Video Dersler

  1. MIT'den
  2. Stanford'dan

Proje Konusu Seçmede Yardımcı Olabilecek Dergilerin Bazıları

Bazı Robotik Dergileri

  1. GAIT & POSTURE
  2. JOURNAL OF MUSCLE RESEARCH AND CELL MOTILITY
  3. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
  4. JOURNAL OF TELEMEDICINE AND TELECARE
  5. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
  6. IEEE TRANSACTIONS ON ADVANCED PACKAGING
  7. ARTIFICIAL ORGANS
  8. IEEE ROBOTICS & AUTOMATION MAGAZINE
  9. AUTONOMOUS ROBOTS
  10. IEEE-ASME TRANSACTIONS ON MECHATRONICS
  11. ROBOTICS AND AUTONOMOUS SYSTEMS
  12. JOURNAL OF ROBOTIC SYSTEMS
  13. LABORATORY ROBOTICS AND AUTOMATION
  14. JOURNAL OF INVESTIGATIVE SURGERY
  15. JOURNAL OF ELECTRONIC PACKAGING
  16. ADVANCES IN SPACE RESEARCH
  17. ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
  18. CYBERNETICS AND SYSTEMS
  19. ROBOTICA
  20. INSECT SYSTEMATICS & EVOLUTION
  21. PACKAGING TECHNOLOGY AND SCIENCE
  22. JOURNAL OF APPLIED BIOMECHANICS
  23. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
  24. JOURNAL OF HUMAN MOVEMENT STUDIES
  25. ADVANCED ROBOTICS
  26. INDUSTRIAL ROBOT
  27. IEEE TRANSACTIONS ON COMPONENTS AND PACKAGING TECHNOLOGIES
  28. ASSEMBLY AUTOMATION
  29. ADVANCES IN INSECT PHYSIOLOGY
  30. ...
Bazı Mekatronik Dergileri

  1. ARCHIVE FOR RATIONAL MECHANICS AND ANALYSIS
  2. VIBRATIONAL SPECTROSCOPY
  3. INTERNATIONAL JOURNAL OF SOLIDS AND STRUCTURES
  4. MECHANICS OF MATERIALS
  5. COMPUTATIONAL MECHANICS
  6. COMPUTER METHODS IN APPLIED MECHANICS AND ENGINEERING
  7. INTERNATIONAL JOURNAL OF MECHANICAL SCIENCES
  8. JOURNAL OF SOUND AND VIBRATION
  9. MECHANICAL SYSTEMS AND SIGNAL PROCESSING
  10. INTERNATIONAL JOURNAL OF NON-LINEAR MECHANICS
  11. JOURNAL OF STRUCTURAL ENGINEERING-ASCE
  12. MECHANICS OF STRUCTURES AND MACHINES
  13. JOURNAL OF APPLIED MECHANICS-TRANSACTIONS OF THE ASME
  14. ENGINEERING FRACTURE MECHANICS
  15. MATHEMATICS AND MECHANICS OF SOLIDS
  16. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART J-JOURNAL OF EN
  17. CONTINUUM MECHANICS AND THERMODYNAMICS
  18. PROBABILISTIC ENGINEERING MECHANICS
  19. STRUCTURAL AND MULTIDISCIPLINARY OPTIMIZATION
  20. JOURNAL OF STRAIN ANALYSIS FOR ENGINEERING DESIGN
  21. JOURNAL OF MECHANICAL DESIGN
  22. QUARTERLY JOURNAL OF MECHANICS AND APPLIED MATHEMATICS
  23. JOURNAL OF HYDRAULIC RESEARCH
  24. COMPUTERS & STRUCTURES
  25. ENGINEERING STRUCTURES
  26. JOURNAL OF VIBRATION AND CONTROL
  27. MECHANICS RESEARCH COMMUNICATIONS
  28. MECHANISM AND MACHINE THEORY
  29. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF ME
  30. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART F-JOURNAL OF RA
  31. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART A-JOURNAL OF PO
  32. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AU
  33. PMM JOURNAL OF APPLIED MATHEMATICS AND MECHANICS
  34. SOUND AND VIBRATION
  35. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART E-JOURNAL OF PR
  36. STRUCTURAL ENGINEERING AND MECHANICS
  37. APPLIED MATHEMATICS AND MECHANICS-ENGLISH EDITION
  38. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART L-JOURNAL OF MA
  39. MECHANICAL ENGINEERING
  40. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SY
  41. HYDRAULICS & PNEUMATICS
  42. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AE
  43. JOURNAL OF LOW FREQUENCY NOISE VIBRATION AND ACTIVE CONTROL
  44. CHINESE JOURNAL OF MECHANICS-SERIES A
  45. ...
Bazı Kontrol Dergileri

  1. CHAOS
  2. IEEE CONTROL SYSTEMS MAGAZINE
  3. AUTOMATICA
  4. MOTOR CONTROL
  5. IEEE TRANSACTIONS ON AUTOMATIC CONTROL
  6. MATHEMATICS OF CONTROL SIGNALS AND SYSTEMS
  7. SYSTEMS & CONTROL LETTERS
  8. JOURNAL OF NONLINEAR SCIENCE
  9. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
  10. STOCHASTIC PROCESSES AND THEIR APPLICATIONS
  11. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
  12. CHAOS SOLITONS & FRACTALS
  13. INTERNATIONAL JOURNAL OF BIFURCATION AND CHAOS
  14. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
  15. JOURNAL OF PROCESS CONTROL
  16. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
  17. DYNAMICS AND STABILITY OF SYSTEMS
  18. INTERNATIONAL JOURNAL OF CONTROL
  19. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND RE
  20. OPTIMIZATION METHODS & SOFTWARE
  21. JOURNAL OF NONLINEAR MATHEMATICAL PHYSICS
  22. IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS
  23. SET-VALUED ANALYSIS
  24. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS
  25. JOURNAL OF OPTIMIZATION THEORY AND APPLICATIONS
  26. NONLINEAR DYNAMICS
  27. DYNAMICS AND CONTROL
  28. CONTROL ENGINEERING PRACTICE
  29. MODELING IDENTIFICATION AND CONTROL
  30. EUROPEAN JOURNAL OF CONTROL
  31. JOURNAL OF GUIDANCE CONTROL AND DYNAMICS
  32. NONLINEAR ANALYSIS-THEORY METHODS & APPLICATIONS
  33. JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
  34. ENGINEERING OPTIMIZATION
  35. PROCESS CONTROL AND QUALITY
  36. IEE PROCEEDINGS-SCIENCE MEASUREMENT AND TECHNOLOGY
  37. DIFFERENTIAL GEOMETRY AND ITS APPLICATIONS
  38. LECTURE NOTES IN CONTROL AND INFORMATION SCIENCES
  39. MECHATRONICS
  40. JOURNAL OF DIFFERENCE EQUATIONS AND APPLICATIONS
  41. DYNAMICS OF CONTINUOUS DISCRETE AND IMPULSIVE SYSTEMS
  42. JOURNAL OF DIFFERENTIAL GEOMETRY
  43. INTEGRAL TRANSFORMS AND SPECIAL FUNCTIONS
  44. TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
  45. AUTOMATION AND REMOTE CONTROL
  46. INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
  47. PRODUCTION PLANNING & CONTROL
  48. COMPUTING & CONTROL ENGINEERING JOURNAL
  49. DISCRETE DYNAMICS IN NATURE AND SOCIETY
  50. OPTIMAL CONTROL APPLICATIONS & METHODS
  51. CONTROL AND CYBERNETICS
  52. JOURNAL OF INTELLIGENT & FUZZY SYSTEMS
  53. CONTROL SOLUTIONS
  54. CONTROL ENGINEERING
  55. MEASUREMENTS & CONTROL
  56. MEASUREMENT & CONTROL
  57. I&CS-INSTRUMENTATION & CONTROL SYSTEMS
  58. CONTROL AND INSTRUMENTATION
  59. AUTOMATIC CONTROL AND COMPUTER SCIENCES
  60. DYNAMICAL SYSTEMS-AN INTERNATIONAL JOURNAL
  61. ...





Prof. Dr. Mehmet Önder Efe
Bilgisayar Mühendisliği Bölümü
e-posta: onderefe at gmail dot com