Modeling and Analysis of Multibody Robotic Systems
Mechatronics 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 |
|---|---|---|---|---|---|---|
| Modeling and Analysis of Multibody Robotic Systems | MKT434 | Elective | Bachelor's degree | 4 | Spring | 4 |
Name of Lecturer(s)
Research Assistant Dr. Haluk ÖZAKYOL
Learning Outcomes of the Course Unit
1) Using vector algebra in mathematical modeling of robots
2) Obtaining rotation matrices with Rodriguez formula
3) To be able to comprehend the Jacobian matrix and the singularity of robots.
4) Ability to analyze serial robots with multiple degrees of freedom
5) Ability to analyze multi-body, multi-degree-of-freedom hybrid robots
Program Competencies-Learning Outcomes Relation
| Program Competencies | ||||||||||||
| 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | ||
| Learning Outcomes | ||||||||||||
| 1 | High | High | High | Middle | No relation | No relation | Middle | Middle | No relation | No relation | Low | |
| 2 | High | High | High | Middle | No relation | No relation | Middle | Middle | No relation | No relation | Low | |
| 3 | High | High | High | Middle | No relation | No relation | Middle | Middle | No relation | No relation | Low | |
| 4 | High | High | High | Middle | No relation | No relation | Middle | Middle | No relation | No relation | Low | |
| 5 | High | High | High | Middle | No relation | No relation | Middle | Middle | No relation | No relation | Low | |
Mode of Delivery
Face to Face
Prerequisites and Co-Requisites
None
Recommended Optional Programme Components
MKT401 Robotics
Course Contents
This course covers; the definition, history and properties of Spatial Operator Algebra (SOA), obtaining rotation matrix with Rodriguez formula, Spatial Velocity Propagation between links and Forward Kinematic Analysis of Serial Robots with SOA, Inverse kinematics analysis in Serial Robots and Jacobian computation, Kinematic Analysis of Serial and Multiple Manipulators on a Mobile Platform, Kinematic Analysis of Cooperating Manipulators and Kinematic Constraints, Kinematic Analysis of Cooperating Manipulators on a Mobile Platform, Spatial Acceleration Propagation between links and Dynamic Analysis of Serial Robots with SOA, Dynamic Analysis of Serial and Multiple Manipulators on a Mobile Platform, Dynamic Analysis of Cooperating Manipulators and Dynamic Constraints.
Weekly Schedule
1) Introduction and Literature2) Mathematical Basics of the Spatial Operator Algebra (SOA)
3) Rotation matrix and Rodriguez formula
4) Spatial Velocity Propagation between links and Forward Kinematic Analysis of Serial Robots with SOA
5) Inverse Kinematic Analysis of Serial Robots and Jacobian
6) Kinematic Analysis of Serial Robots on a Mobile Platform
7) Kinematic Analysis of Multiple Manipulators on a Mobile Platform
8) Midterm Exam
9) Kinematic Analysis of Cooperating Manipulators and Kinematic Constraints
10) Kinematic Analysis of Cooperating Manipulators on a Mobile Platform
11) Spatial Acceleration Propagation between links and Dynamic Analysis of Serial Robots with SOA
12) Dynamic Analysis of Serial Robots on a Mobile Platform
13) Dynamic Analysis of Multiple Robots on a Mobile Platform
14) Dynamic Analysis of Cooperating Manipulators and Dynamic Constraints
15) Dynamic Analysis of Cooperating Manipulators on a Mobile Platform
16) Final Exam
Recommended or Required Reading
Planned Learning Activities and Teaching Methods
1) Lecture
2) Lecture
3) Question-Answer
4) Question-Answer
5) Drill and Practice
6) Drill and Practice
7) Modelling
8) Modelling
9) Simulation
10) Simulation
11) Self Study
12) Self Study
13) Problem Solving
14) Problem Solving
15) Project Based Learning
16) Project Based Learning
Assessment Methods and Criteria
Contribution of Semester Studies to Course Grade |
50% |
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Contribution of Final Examination to Course Grade |
50% |
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Total | 100% | |||||||||||||||||
Language of Instruction
English
Work Placement(s)
Not Required