INTRODUCTION TO ROBOTICS

EEE418

Course Code: EEE418
Semester: -
Theory+Practice: 3 + 1
ECTS: 5

Course Type

Elective Course

Course Level

Bachelor's Degree

Year of Study

Semester

ECTS

Name of Lecturer(s)

Assistant Professor Bülent İrfanoğlu

Learning Outcomes

At the end of this course, the students;

Describe and analyze rigid motion
Describe manipulator kinematics equations
Solve simple inverse kinematics problems
Trajectory and motion planning
Design a controller for a robot (digital controller-actuator-sensor)

Mode of Delivery

Face to face

Prerequisites

Recommended Optional Programme Components

None

Course Description

Introduction to electro-mechanic systems, Fundamentals issues in robotics, Forward and inverse kinematics in robotic systems, Dynamics concept in robotic manipulators, Path and Trajectory planning, Analog interfacing; analog signal conditioning, analog /digital and digital/ analog conversion, sensors, transducers and actuators, communication in microcontroller-based systems (SCI ,SPI, I2C), Pulse width modulation for motor control; microcontroller-based control, simple open and closed loop control systems (ON-OFF, P, PI, PID); Servo mechanism, Position, speed and torque control, Introduction to mobile robots.

Course Contents

WEEK	TOPICS
1^st Week	Introduction to robotics
2^nd Week	Position and orientation analysis in robotic
3^rd Week	Forward and inverse kinematic model and equation
4^th Week	Kinematic equations, Denavit-Hartenberg (D-H)parameters
5^th Week	Trajectory and motion planning
6^th Week	Trajectory and motion planning
7^th Week	Introduction to robot dynamic
8^th Week	Midterm Exam
9^th Week	Position, speed and torque control in robotics
10^th Week	Position, speed and torque control in robotics
11^th Week	Sensors and transducers
12^th Week	Motors and drivers
13^th Week	Communication methods in mikrocontroller based systems
14^th Week	Simple robot applications

Recommended or Required Reading

1-Saeed B. Niku, Introduction to Robotics 2e, Wiley, 2011.
2-J.J. Craig, Introduction to Robotics Mechanics and Control,Second Edition, Addison-Wesley, 1989
3-Microprocessors, From Assembly Language to C Using the PICI8FXX2
4-Process Control Instrumentation Technology, Curtis Johnson, 7th edition, Prentice Hall (2002)

Planned Learning Activities and Teaching Methods

Questions/Answers
Lecture
Presentation

Assessment Methods and Criteria

	Quantity	Percentage (%)
Mid-term	1	35
Assignment	1	10
Quiz	1	13
Attendance	1	5
Total(%)		63
Contribution of In-term Studies to Overall Grade(%)		63
Contribution of Final Examination to Overall Grade(%)		37
Total(%)		100

ECTS Allocated Based on Student Workload

Activities	Quantity	Duration (Hour)	Total Workload (Hour)
Midterm exam	1	2	2
Preparation for Quiz	2	4	8
Individual or group work	14	3	42
Preparation for Final exam	1	12	12
Course hours	14	4	56
Preparation for Midterm exam	1	12	12
Laboratory (including preparation)	0	0	0
Final exam	1	2	2
Homework	2	8	16
Total Work Load			150
Total Work Load / 30 (h)			5
ECTS Credit of the Course			5

Language of Instruction

English

Work Placement(s)

Programme Qualifications / Learning Outcomes

	LO1	LO2	LO3	LO4	LO5
K1	X	X
K2	X	X	X
K3				X	X
K4				X	X
K5
K6
K7
K8
K9
K10
K11