Modeling of Industrial Robots
Biomedical Engineering
Institute of Natural and Applied Sciences
Second Cycle (Master's Degree)
| Course Unit Title | Course Unit Code | Type of Course Unit | Level of Course Unit | Year of Study | Semester | ECTS Credits |
|---|---|---|---|---|---|---|
| Modeling of Industrial Robots | BMM509 | Elective | Master's degree | 1 | Fall | 8 |
Name of Lecturer(s)
Prof. Dr. Serdar KÜÇÜK
Learning Outcomes of the Course Unit
1) Explain the basics of robotics
2) Explain the kinematics of the robot
3) List the types of robots
4) Use the coordinate axes of the robots
5) Expound the trajectory planning
Program Competencies-Learning Outcomes Relation
| Program Competencies | ||||||||||
| 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | ||
| Learning Outcomes | ||||||||||
| 1 | High | High | High | High | High | High | High | High | High | |
| 2 | High | High | High | High | High | High | High | High | High | |
| 3 | No relation | No relation | No relation | No relation | No relation | No relation | No relation | No relation | Middle | |
| 4 | Low | Low | High | Middle | Middle | Middle | No relation | Middle | Middle | |
| 5 | High | High | No relation | Middle | Middle | No relation | Middle | Middle | Middle | |
Mode of Delivery
Face to Face
Prerequisites and Co-Requisites
None
Recommended Optional Programme Components
Computer Networks and Application,Database Management Systems,Medical Device Manufacturing Quality Management,Computer Applications in Biomedical Engineering,Physiological Control Systems and Modeling,Bioelectromagnetics,Robotics,Biomedical Sensors and Transducers
Course Contents
This course equips candidates with in-depth knowledge on special definitions and homogeneous transformations, concepts of orientation and displacement, advanced kinematics, ınverse kinematics, Jacobian matrix, trajectory planning, robot dynamics, mechanical design of robot manipulators and robot programming languages.
Weekly Schedule
1) Introduction to robotics2) Special definitions and homogeneous transformations
3) Coordinate axes and transformation. Concept of rotation and translation.
4) Forward kinematics
5) İnverse kinematics
6) İnverse kinematics
7) Obtaining the Jacobian matrix
8) Midterm examination/Assessment
9) Trajectory planning
10) Midterm Exam
11) Robot dynamics
12) Robot dynamics
13) Mechanical design of robot manipulators
14) Mechanical design of robot manipulators
15) Robot programming languages
16) Final examination
Recommended or Required Reading
1- J. Craig, Introduction to Robotics: Mechanics and Control, USA, 1989.
2- Serdar Küçük, Zafer Bingül, Robot Kinematiği, Umuttepe yayınevi,2016.
Planned Learning Activities and Teaching Methods
1) Lecture
2) Question-Answer
3) Discussion
4) Group Study
5) Self Study
6) Problem Solving
Assessment Methods and Criteria
Contribution of Midterm Examination to Course Grade |
40% |
|---|---|
Contribution of Final Examination to Course Grade |
60% |
Total |
100% |
Language of Instruction
Turkish
Work Placement(s)
Not Required