| Course Type | Elective Course |
|---|
| Course Level | Doctorate Of Science |
|---|
| Year of Study | - |
|---|
| Semester | - |
|---|
| ECTS | 10 |
|---|
| Name of Lecturer(s) |
- |
| Learning Outcomes |
At the end of this course, the students;
- Gain an ability to apply mathematics formulation in robot manipulator based on linear algebra.
- Learn and apply kinematics modeling in robot arms, solve forward and inverse kinematics problems.
- Learn and apply dynamic modeling in robot arms.
- Gain an ability to solve path and trajectory planning problem in robotics.
- Gain an ability to select sensor and actuator for design of robot arm.
|
| Mode of Delivery | Face to face |
|---|
| Prerequisites | No |
|---|
| Recommended Optional Programme Components | No |
|---|
| Course Description | Fundamental concepts in Robotics. Robotics applications. Basics of vectoral and analytic Mechanics. Robot dynamics, robot arms (manipulators). Forward and backward Kinematics in Robots, trajectory planning. Motion control, sensors and translators. Control architecture, introduction to moving robots. |
|---|
| Course Contents |
| WEEK |
TOPICS |
|
1st Week |
Introduction to robotic |
|
2nd Week |
Matrices and vector application in robotics |
|
3rd Week |
Fundamental definition in mobile robots (DOF, workspace ...) |
|
4th Week |
Homogonous matrices in position calculation |
|
5th Week |
Homogonous matrices in position calculation |
|
6th Week |
Forward and inverse kinematics in mobile robots |
|
7th Week |
Forward and inverse kinematics in mobile robots |
|
8th Week |
Trajectory planning |
|
9th Week |
Midterm exam |
|
10th Week |
Sensors and actuators in robotic |
|
11th Week |
Control of position and speed |
|
12th Week |
Dynamic relation in manipulators (Lagrangian ...) |
|
13th Week |
Dynamic relation in manipulators (Lagrangian ...) |
|
14th Week |
Control in robotic |
|
| Recommended or Required Reading | 1. Introduction to Robotics: Analysis, Systems, Applications, Saeed B. Niku, Prentice Hall 2002
2. Introduction to Robotics: Hohn. J.Craig third edition 2005
|
|---|
| Planned Learning Activities and Teaching Methods |
- Lecture
- Questions/Answers
- Problem Solving
- Project
- Presentation
|
|---|
| Assessment Methods and Criteria |
|
Quantity |
Percentage (%) |
| Mid-term |
1 |
30 |
| Assignment |
1 |
15 |
| Project |
1 |
25 |
| Total(%) |
|
70 |
| Contribution of In-term Studies to Overall Grade(%) |
|
70 |
| Contribution of Final Examination to Overall Grade(%) |
|
30 |
| Total(%) |
|
100 |
|
| ECTS Allocated Based on Student Workload |
| Activities |
Quantity |
Duration (Hour) |
Total Workload (Hour) |
| Midterm exam |
1 |
3 |
3 |
| Preparation for Quiz |
0 |
0 |
0 |
| Individual or group work |
14 |
8 |
112 |
| Preparation for Final exam |
1 |
40 |
40 |
| Course hours |
14 |
3 |
42 |
| Preparation for Midterm exam |
1 |
30 |
30 |
| Laboratory (including preparation) |
0 |
0 |
0 |
| Final exam |
1 |
3 |
3 |
| Homework |
2 |
35 |
70 |
| Total Work Load | 300 |
| Total Work Load / 30 (h) | 10 |
| ECTS Credit of the Course | 10 |
|
| Language of Instruction | Turkish |
|---|
| Work Placement(s) | No |
|---|
