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Information
| Code | CEN405 |
| Name | Introduction to Robotics |
| Term | 2024-2025 Academic Year |
| 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 Instructor |
1 |
Course Goal / Objective
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 Mathematical Jacobians. |
| LO04 | Mathematical Transformations |
| LO05 | Advanced robotic kinematics |
| LO06 | Robotics Orbit planning |
| LO07 | General Robotics Consepts |
Relation with Program Learning Outcome
| Order | Type | Program Learning Outcomes | Level |
|---|---|---|---|
| PLO01 | Bilgi - Kuramsal, Olgusal | Adequate knowledge of mathematics, science and related engineering disciplines; ability to use theoretical and applied knowledge in these fields in solving complex engineering problems. | 5 |
| PLO02 | Bilgi - Kuramsal, Olgusal | Ability to identify, formulate and solve complex engineering problems; ability to select and apply appropriate analysis and modeling methods for this purpose. | 4 |
| PLO03 | Bilgi - Kuramsal, Olgusal | Ability to design a complex system, process, device or product to meet specific requirements under realistic constraints and conditions; ability to apply modern design methods for this purpose. | 3 |
| PLO04 | Bilgi - Kuramsal, Olgusal | Ability to select and use modern techniques and tools necessary for the analysis and solution of complex problems encountered in engineering practice; ability to use information technologies effectively. | 1 |
| PLO05 | Bilgi - Kuramsal, Olgusal | Ability to design and conduct experiments, collect data, analyze and interpret results to investigate complex engineering problems or discipline-specific research topics. | 5 |
| PLO06 | Bilgi - Kuramsal, Olgusal | Ability to work effectively in interdisciplinary and multidisciplinary teams; individual working skills. | 3 |
| PLO07 | Bilgi - Kuramsal, Olgusal | Ability to communicate effectively verbally and in writing; knowledge of at least one foreign language; ability to write effective reports and understand written reports, prepare design and production reports, make effective presentations, and give and receive clear and understandable instructions. | 2 |
| PLO08 | Bilgi - Kuramsal, Olgusal | Awareness of the necessity of lifelong learning; ability to access information, follow developments in science and technology, and constantly renew oneself. | 4 |
| PLO09 | Bilgi - Kuramsal, Olgusal | Knowledge of ethical principles, professional and ethical responsibility, and standards used in engineering practice. | 2 |
| PLO10 | Bilgi - Kuramsal, Olgusal | Knowledge of business practices such as project management, risk management and change management; awareness of entrepreneurship and innovation; knowledge of sustainable development. | 5 |
| PLO11 | Bilgi - Kuramsal, Olgusal | Knowledge of the effects of engineering practices on health, environment and safety in universal and social dimensions and the problems of the age reflected in the field of engineering; awareness of the legal consequences of engineering solutions. |
Week Plan
| Week | Topic | Preparation | Methods |
|---|---|---|---|
| 1 | Mathematical Concepts | Homeworks | Öğretim Yöntemleri: Anlatım, Soru-Cevap |
| 2 | General MathematicalConcepts | Homeworks | Öğretim Yöntemleri: Anlatım, Soru-Cevap |
| 3 | Mathematical 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 | ||