MK526 Introduction to Robotics

6 ECTS - 3-0 Duration (T+A)- . Semester- 3 National Credit
Information About Course

Information
Goal, Content & Resources
Course Learning Outcomes
Relation with Program Learning Outcome
Week Plan
Student Workload - ECTS

Information

Code MK526
Name Introduction to Robotics
Semester . Semester
Duration (T+A) 3-0 (T-A) (17 Week)
ECTS 6 ECTS
National Credit 3 National Credit
Teaching Language İngilizce
Level Yüksek Lisans Dersi
Type Normal
Mode of study Yüz Yüze Öğretim
Catalog Information Coordinator


Course Goal

To learn basic concepts about robots, to gain skills to solve robot problems by expressing mathematics.

Course Content

Structure, classification and systematics of robots; Robot mechanics; Joint, actuator and Cartesian spaces; Working spaces; Description of angular and linear positions; Inverse kinematics of manipulators; Solubility; Single and multiple solutions; Geometric and algebraic solutions.

Course Precondition

none

Resources

J.J. Craig, Introduction to Robotics: Mechanics and Control. 4th Ed. Reading: Addison-Wesley(1989) K.S. Fu, R.C. Gonzales and C.S.G Lee, Robotics: Control, Sensing, Vision and Intellgence. New York: McGraw-Hill(1987) M.P. Groover, M. Weiss, R.N. Nagel, N.G. Odrey, Industrial Robotics: Technology, Programming and Applications Y. Koren, Robotics for Engineers, McGraw-Hill New York (1987)

Notes

J.J. Craig, Introduction to Robotics: Mechanics and Control. 4th. Ed. Reading: Addison-Wesley(1989) K.S. Fu, R.C. Gonzales and C.S.G Lee, Robotics: Control, Sensing, Vision and Intellgence. New York: McGraw-Hill(1987) M.P. Groover, M. Weiss, R.N. Nagel, N.G. Odrey, Industrial Robotics: Technology, Programming and Applications Y. Koren, Robotics for Engineers, McGraw-Hill New York (1987)


Course Learning Outcomes

Order Course Learning Outcomes
LO01 Learns spatial transformations.
LO02 Performs forward and inverse kinematics.
LO03 Performs static and dynamic analysis.
LO04 Performs mechanical design of robots.
LO05 Learns robot control applications.


Relation with Program Learning Outcome

Order Type Program Learning Outcomes Level
PLO01 Bilgi - Kuramsal, Olgusal Understands and applies basic sciences, mathematics and engineering sciences at a high level. 2
PLO02 Bilgi - Kuramsal, Olgusal He/she has extensive and in-depth knowledge, including the latest developments in his/her field. 3
PLO03 Beceriler - Bilişsel, Uygulamalı They reach the latest information in a field and have a high level of proficiency in the methods and skills necessary to comprehend and research them. 1
PLO04 Beceriler - Bilişsel, Uygulamalı They carry out a comprehensive study that brings innovation to science and technology, develops a new scientific method or technological product/process, or applies a known method to a new field. 2
PLO05 Beceriler - Bilişsel, Uygulamalı Independently perceives, designs, implements and concludes an original research process; manages this process. 3
PLO06 Yetkinlikler - Bağımsız Çalışabilme ve Sorumluluk Alabilme Yetkinliği Contributes to the science and technology literature by publishing the outputs of its academic studies in respected academic environments. 2
PLO07 Yetkinlikler - Bağımsız Çalışabilme ve Sorumluluk Alabilme Yetkinliği Evaluates scientific, technological, social and cultural developments and conveys them to the society with the awareness of scientific impartiality and ethical responsibility. 1
PLO08 Yetkinlikler - İletişim ve Sosyal Yetkinlik Performs critical analysis, synthesis and evaluation of ideas and developments in the field of expertise. 2
PLO09 Yetkinlikler - İletişim ve Sosyal Yetkinlik Communicates effectively, both verbally and in writing, with those working in the field of specialization and the wider scientific and social community, communicating and discussing at an advanced level of written, oral and visual communication using a foreign language at least at the C1 General Level of the European Language Portfolio. 2
PLO10 Yetkinlikler - Bağımsız Çalışabilme ve Sorumluluk Alabilme Yetkinliği Carring out literature survey


Week Plan

Week Topic Preparation Methods
1 Basic Components of Robotics Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
2 Historical Development of Robotics Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
3 Robot Systematics Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
4 Robot Structure Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
5 Spatial Transformations Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
6 Forward Kinematics Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
7 Inverse Kinematics Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
8 Velocities, Static Forces, and Jacobians Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
9 Dynamics Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
10 midterm Ölçme Yöntemleri:
Yazılı Sınav
11 Trajectory Planning Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
12 Mechanical Design of Robots Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
13 Linear Control Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
14 Nonlinear Control Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
15 Force∞Control Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
16 End of Year Exam Ölçme Yöntemleri:
Yazılı Sınav
17 End of Year Exam 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