CENG0060 Robot Manipulation

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

Information

Code CENG0060
Name Robot Manipulation
Term 2023-2024 Academic Year
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 Dr. Öğr. Üyesi Barış ATA


Course Goal / Objective

Robot Manipulation is an advanced course that focuses on the analysis and control of robot manipulators, their kinematics, dynamics, and control.

Course Content

This course covers perception, state estimation, robot arm kinematics and dynamics, task and motion planning, machine learning, controls, and human-robot interaction toward various robot manipulation tasks.

Course Precondition

A background in mathematics is required, especially linear algebra and probability. Proficiency in C++ or Python is required.

Resources

"Robotic Manipulation: Perception, Planning, and Control” by R. Tedrake

Notes

“Mechanics of Manipulation” by Matthew T. Mason. “Modeling and Control of Robot Manipulators” by L. Sciavicco and B. Siciliano, Springer.


Course Learning Outcomes

Order Course Learning Outcomes
LO01 Understand the principles of robotic kinematics and dynamics
LO02 Explore motion planning techniques for robotic manipulation
LO03 Learn various control strategies for robotic manipulation
LO04 Develop critical thinking and problem-solving skills related to robotic manipulation


Relation with Program Learning Outcome

Order Type Program Learning Outcomes Level
PLO01 Bilgi - Kuramsal, Olgusal On the basis of the competencies gained at the undergraduate level, it has an advanced level of knowledge and understanding that provides the basis for original studies in the field of Computer Engineering. 4
PLO02 Bilgi - Kuramsal, Olgusal By reaching scientific knowledge in the field of engineering, he/she reaches the knowledge in depth and depth, evaluates, interprets and applies the information. 3
PLO03 Yetkinlikler - Öğrenme Yetkinliği Being aware of the new and developing practices of his / her profession and examining and learning when necessary. 2
PLO04 Yetkinlikler - Öğrenme Yetkinliği Constructs engineering problems, develops methods to solve them and applies innovative methods in solutions. 2
PLO05 Yetkinlikler - Öğrenme Yetkinliği Designs and applies analytical, modeling and experimental based researches, analyzes and interprets complex situations encountered in this process. 4
PLO06 Yetkinlikler - Öğrenme Yetkinliği Develops new and / or original ideas and methods, develops innovative solutions in system, part or process design.
PLO07 Beceriler - Bilişsel, Uygulamalı Has the skills of learning. 2
PLO08 Beceriler - Bilişsel, Uygulamalı Being aware of new and emerging applications of Computer Engineering examines and learns them if necessary. 1
PLO09 Beceriler - Bilişsel, Uygulamalı Transmits the processes and results of their studies in written or oral form in the national and international environments outside or outside the field of Computer Engineering.
PLO10 Beceriler - Bilişsel, Uygulamalı Has comprehensive knowledge about current techniques and methods and their limitations in Computer Engineering. 1
PLO11 Beceriler - Bilişsel, Uygulamalı Uses information and communication technologies at an advanced level interactively with computer software required by Computer Engineering. 2
PLO12 Bilgi - Kuramsal, Olgusal Observes social, scientific and ethical values in all professional activities. 2


Week Plan

Week Topic Preparation Methods
1 Anatomy of a manipulation system Reading the lecture notes Öğretim Yöntemleri:
Anlatım
2 Basic pick and place: Differential kinematics and trajectories Reading the lecture notes Öğretim Yöntemleri:
Anlatım
3 Basic pick and place: Differential kinematics via optimization Reading the lecture notes Öğretim Yöntemleri:
Anlatım
4 Geometric perception: Cameras, point clouds, and registration Reading the lecture notes Öğretim Yöntemleri:
Anlatım
5 Geometric perception: Partial views and outliers Reading the lecture notes Öğretim Yöntemleri:
Anlatım
6 Simulation basics Reading the lecture notes Öğretim Yöntemleri:
Anlatım
7 Antipodal grasping Reading the lecture notes Öğretim Yöntemleri:
Anlatım
8 Mid-Term Exam Reading the lecture notes Ölçme Yöntemleri:
Yazılı Sınav
9 Deep Perception: Object recognition and segmentation Reading the lecture notes Öğretim Yöntemleri:
Anlatım
10 Deep Perception: Perceptual representations for manipulation Reading the lecture notes Öğretim Yöntemleri:
Anlatım
11 Motion planning Reading the lecture notes Öğretim Yöntemleri:
Anlatım
12 Force Control Reading the lecture notes Öğretim Yöntemleri:
Anlatım
13 Manipulator Control Reading the lecture notes Öğretim Yöntemleri:
Anlatım
14 Task-and-motion planning Reading the lecture notes Öğretim Yöntemleri:
Anlatım
15 Review Reading the lecture notes Öğretim Yöntemleri:
Soru-Cevap
16 Term Exams Reading the lecture notes Ölçme Yöntemleri:
Yazılı Sınav
17 Term Exams Reading the 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 14 14
Final Exam 1 28 28
Total Workload (Hour) 154
Total Workload / 25 (h) 6,16
ECTS 6 ECTS

Update Time: 24.05.2023 11:37