Introduction To Robotic Systems
Electrical Engineering
Faculty of Engineering
First Cycle (Bachelor's Degree)
| Course Unit Title | Course Unit Code | Type of Course Unit | Level of Course Unit | Year of Study | Semester | ECTS Credits |
|---|---|---|---|---|---|---|
| Introduction To Robotic Systems | MUH318 | Elective | Bachelor's degree | 3 | Spring | 5 |
Name of Lecturer(s)
Associate Prof. Dr. Mustafa ÇAKIR
Assistant Prof. Dr. Alpaslan Burak İNNER
Learning Outcomes of the Course Unit
1) Identify the terminology and classification of the robots
2) Identify the robot safety guidelines and challanges of the integrated systems
3) Formulate the kinematic equations of the basic structures
Program Competencies-Learning Outcomes Relation
| Program Competencies | |||||||||||
| 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | ||
| Learning Outcomes | |||||||||||
| 1 | No relation | Low | No relation | No relation | No relation | No relation | No relation | No relation | No relation | No relation | |
| 2 | Low | Middle | No relation | Low | Middle | No relation | Low | Middle | Middle | Middle | |
| 3 | High | No relation | No relation | No relation | No relation | No relation | Low | Low | No relation | No relation | |
Mode of Delivery
Face to Face
Prerequisites and Co-Requisites
None
Recommended Optional Programme Components
Introduction to Control Systems
Course Contents
Terminology and history of robotics. Basic designs and applications. Rigid body kinematics. Homogenous transformations. Forward and inverse kinematic equations with geometric approach. Basic control methods. Design subjects. Robot sensors and actuators. Mobile robotics and motion programming.
Weekly Schedule
1) History & Introduction2) Common Kinematic Arrangements
3) Rigid Body Motions & Homogenous Transformations
4) Rotation Representations & Quaternion Algebra
5) Serial Robots - Forward Kinematic
6) Serial Robots - Inverse Kinematic
7) Industrial Robot (ABB) Programming
8) Midterm examination
9) Industrial robot programming
10) Mobile Robots - Locomotion Concepts
11) Mobile Robots - Kinematics (Differential Drive & Odometry)
12) Path Planning - Road-Map Based Methods
13) Path Planning - Cell Decomposition Based Methods
14) Laborotory Hour - Path Following with Diferential Drive
15) Control (Motion on Path) - Localization (Kalman Filtering)
16) Final examination
Recommended or Required Reading
1- Robot Modeling and Control, Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, 2005, ISBN:0471649902, 9780471649908
Planned Learning Activities and Teaching Methods
1) Lecture
2) Drill and Practice
3) Simulation
4) Lab / Workshop
5) Project Based Learning
Assessment Methods and Criteria
Contribution of Semester Studies to Course Grade |
20% |
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Contribution of Final Examination to Course Grade |
80% |
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Total | 100% | |||||||||||
Language of Instruction
Turkish
Work Placement(s)
Not Required