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Information
| Code | MK526 |
| Name | Introduction to Robotics |
| Term | 2022-2023 Academic Year |
| Term | Spring |
| 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 Instructor |
1 |
Course Goal / Objective
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. | |
| 2 | Historical Development of Robotics | Study the relevant chapter of the textbook. | |
| 3 | Robot Systematics | Study the relevant chapter of the textbook. | |
| 4 | Robot Structure | Study the relevant chapter of the textbook. | |
| 5 | Spatial Transformations | Study the relevant chapter of the textbook. | |
| 6 | Forward Kinematics | Study the relevant chapter of the textbook. | |
| 7 | Inverse Kinematics | Study the relevant chapter of the textbook. | |
| 8 | Velocities, Static Forces, and Jacobians | Study the relevant chapter of the textbook. | |
| 9 | Dynamics | Study the relevant chapter of the textbook. | |
| 10 | midterm | ||
| 11 | Trajectory Planning | Study the relevant chapter of the textbook. | |
| 12 | Mechanical Design of Robots | Study the relevant chapter of the textbook. | |
| 13 | Linear Control | Study the relevant chapter of the textbook. | |
| 14 | Nonlinear Control | Study the relevant chapter of the textbook. | |
| 15 | Force∞Control | Study the relevant chapter of the textbook. | |
| 16 | End of Year Exam | ||
| 17 | End of Year Exam |
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 | ||