TÜRKÇE
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Information
| Code | CEN405 |
| Name | Introduction to Robotics |
| Semester | 7. Semester |
| Duration (T+A) | 3-0 (T-A) (17 Week) |
| ECTS | 6 ECTS |
| National Credit | 3 National Credit |
| Teaching Language | İngilizce |
| Level | Lisans Dersi |
| Type | Normal |
| Mode of study | Yüz Yüze Öğretim |
| Catalog Information Coordinator | Prof. Dr. RAMAZAN ÇOBAN |
Course Goal
To be able to solve linear and inverse kinematics problems of robot arms.
Course Content
General concepts, Transformations, Advanced kinematics, Inverse kinematics, Jacobian, Orbit Planning
Course Precondition
unavailable
Resources
Introduction to Robotics Mechanics and Control 3ed., Craig J
Notes
Introduction to Robotics Mechanics and Control 3ed., Craig J
Course Learning Outcomes
| Order | Course Learning Outcomes |
|---|---|
| LO01 | To be able to solve the kinematic problems of robot arms. |
| LO02 | To solve the inverse kinematics problems of robot arms. |
| LO03 | Finding Jacobians. |
| LO04 | Transformations |
| LO05 | Advanced kinematics |
| LO06 | Orbit planning |
| LO07 | General Robotics |
| LO08 | Genel robotik kavramları |
Relation with Program Learning Outcome
| Order | Type | Program Learning Outcomes | Level |
|---|---|---|---|
| PLO01 | Bilgi - Kuramsal, Olgusal | Has capability in the fields of mathematics, science and computer that form the foundations of engineering | 5 |
| PLO02 | Bilgi - Kuramsal, Olgusal | Identifies, formulates, and solves engineering problems, selects and applies appropriate analytical methods and modeling techniques, | 5 |
| PLO03 | Bilgi - Kuramsal, Olgusal | Analyzes a system, its component, or process and designs under realistic constraints to meet the desired requirements,gains the ability to apply the methods of modern design accordingly. | 5 |
| PLO04 | Bilgi - Kuramsal, Olgusal | Ability to use modern techniques and tools necessary for engineering practice and information technologies effectively. | 1 |
| PLO05 | Bilgi - Kuramsal, Olgusal | Ability to design and to conduct experiments, to collect data, to analyze and to interpret results | 5 |
| PLO06 | Bilgi - Kuramsal, Olgusal | Has ability to work effectively as an individual and in multi-disciplinary teams, take sresponsibility and builds self-confidence | 3 |
| PLO07 | Beceriler - Bilişsel, Uygulamalı | Can access information,gains the ability to do resource research and uses information resources | 5 |
| PLO08 | Beceriler - Bilişsel, Uygulamalı | Awareness of the requirement of lifelong learning, to follow developments in science and technology and continuous self-renewal ability | 4 |
| PLO09 | Yetkinlikler - Bağımsız Çalışabilme ve Sorumluluk Alabilme Yetkinliği | Ability to communicate effectively orally and in writing, and to read and understand technical publications in at least one foreign language | 2 |
| PLO10 | Yetkinlikler - Öğrenme Yetkinliği | Professional and ethical responsibility, | 5 |
| PLO11 | Yetkinlikler - Öğrenme Yetkinliği | Awareness about project management, workplace practices, employee health, environmental and occupational safety, and the legal implications of engineering applications, | 5 |
| PLO12 | Yetkinlikler - Öğrenme Yetkinliği | Becomes aware of universal and social effects of engineering solutions and applications, entrepreneurship and innovation, and knowledge of contemporary issues | 1 |
Week Plan
| Week | Topic | Preparation | Methods |
|---|---|---|---|
| 1 | Concepts | Homeworks | Öğretim Yöntemleri: Anlatım, Soru-Cevap |
| 2 | General Concepts | Homeworks | Öğretim Yöntemleri: Anlatım, Soru-Cevap |
| 3 | Transformations | Homeworks | Öğretim Yöntemleri: Anlatım, Soru-Cevap |
| 4 | Matrix Transformations | Homeworks | Öğretim Yöntemleri: Anlatım, Soru-Cevap |
| 5 | Space Transformations | Homeworks | Öğretim Yöntemleri: Anlatım, Soru-Cevap |
| 6 | Axis Transformations | Homeworks | Öğretim Yöntemleri: Anlatım, Soru-Cevap |
| 7 | kinematics | Homeworks | Öğretim Yöntemleri: Anlatım, Soru-Cevap |
| 8 | Mid-Term Exam | Reading material related to subject and lecture notes. | Ölçme Yöntemleri: Yazılı Sınav |
| 9 | Advanced kinematics | Homeworks | Ölçme Yöntemleri: Yazılı Sınav |
| 10 | Manupulator kinematics | Homeworks | Öğretim Yöntemleri: Anlatım, Soru-Cevap |
| 11 | Inverse kinematics | Homeworks | Öğretim Yöntemleri: Anlatım, Soru-Cevap |
| 12 | Velocity Jacobian | Homeworks | Öğretim Yöntemleri: Anlatım, Soru-Cevap |
| 13 | force Jacobian | Homeworks | Öğretim Yöntemleri: Anlatım, Soru-Cevap |
| 14 | static force Jacobian | Homeworks | Öğretim Yöntemleri: Anlatım, Soru-Cevap |
| 15 | Orbit planning | Homeworks | Öğretim Yöntemleri: Anlatım, Soru-Cevap |
| 16 | Term Exams | Reading material related to subject and lecture notes. | Ölçme Yöntemleri: Yazılı Sınav |
| 17 | Term Exams | Reading material related to subject and lecture notes. | Ölçme Yöntemleri: Yazılı Sınav |
Student Workload - ECTS
| Works | Number | Time (Hour) | Workload (Hour) |
|---|---|---|---|
| Course Related Works | |||
| Class Time (Exam weeks are excluded) | 14 | 3 | 42 |
| Out of Class Study (Preliminary Work, Practice) | 14 | 5 | 70 |
| Assesment Related Works | |||
| Homeworks, Projects, Others | 0 | 0 | 0 |
| Mid-term Exams (Written, Oral, etc.) | 1 | 15 | 15 |
| Final Exam | 1 | 30 | 30 |
| Total Workload (Hour) | 157 | ||
| Total Workload / 25 (h) | 6,28 | ||
| ECTS | 6 ECTS | ||