ECTS - Introduction to Robotics
Introduction to Robotics (EE445) Course Detail
| Course Name | Course Code | Season | Lecture Hours | Application Hours | Lab Hours | Credit | ECTS |
|---|---|---|---|---|---|---|---|
| Introduction to Robotics | EE445 | Area Elective | 3 | 0 | 0 | 3 | 5 |
| Pre-requisite Course(s) |
|---|
| EE326 |
| Course Language | English |
|---|---|
| Course Type | Elective Courses |
| Course Level | Natural & Applied Sciences Master's Degree |
| Mode of Delivery | Face To Face |
| Learning and Teaching Strategies | Lecture, Demonstration, Drill and Practice, Team/Group, Project Design/Management. |
| Course Lecturer(s) |
|
| Course Objectives | Teach the mathematics, design, analysis, and control of robotic systems |
| Course Learning Outcomes |
The students who succeeded in this course;
|
| Course Content | Basic components of robotic systems: selection of coordinate frames; homogeneous transformations; solutions to kinematics equations; velocity and force/torque relations; manipulator dynamics in Lagranges formulation; digital simulation of manipulator motion; motion planning; obstacle avoidance; controller design using the computed torque method. |
Weekly Subjects and Releated Preparation Studies
| Week | Subjects | Preparation |
|---|---|---|
| 1 | Introduce robotic systems and their functions. Homogeneous vector, plane, and transformation: points, planes, coordinate frames, position, and orientation transformations | Glance at this week’s topics |
| 2 | Introduce robotic systems and their functions. Homogeneous vector, plane, and transformation: points, planes, coordinate frames, position, and orientation transformations | Review the course notes |
| 3 | Rotation transformation: general one-axis rotation, Euler rotation, and RPY rotation | Glance at this week’s topics |
| 4 | Kinematics: joint coordinate frames and kinematic parameters of a multi-joint robot, forward kinematics representing position and orientation of a robot | |
| 5 | Kinematics: joint coordinate frames and kinematic parameters of a multi-joint robot, forward kinematics representing position and orientation of a robot | Review your notes |
| 6 | Inverse Kinematic Solutions: techniques of finding inverse kinematics of various types of robots | Glance at this week's notes |
| 7 | Inverse Kinematic Solutions: techniques of finding inverse kinematics of various types of robots | Glance at this week's notes |
| 8 | Differential relationships between different coordinates, Jacobian and inverse Jacobian relation | Read from your book |
| 9 | Mobile Robots - kinematics and motion planning | Glance at the notes |
| 10 | Path and trajectory planning - joint path planning and Cartesian path planning | Read from your book |
| 11 | Dynamics: Lagrangian formulation, computation of inertial forces, centripetal and Coriolois forces and gravity forces | Study the course notes |
| 12 | Dynamics | Study the examples |
| 13 | Classical controllers for manipulators | |
| 14 | Robot task planning, programming, and control | Study the notes |
| 15 | Final examination period | Review the topics |
| 16 | Final examination period | Review the topics |
Sources
| Course Book | 1. Introduction to Robotics: Mechanics and Control, 2nd Ed., Craig John, Addison Wesley |
|---|---|
| Other Sources | 2. Modeling and Control of Robot Manipulators, Sciavicco and Bruno Siciliano, McGraw-Hill |
| 3. Introduction to Autonomous Mobile Robots, Siegwart and Nourbakhsh, The MIT Press, 2004 |
Evaluation System
| Requirements | Number | Percentage of Grade |
|---|---|---|
| Attendance/Participation | - | - |
| Laboratory | - | - |
| Application | - | - |
| Field Work | - | - |
| Special Course Internship | - | - |
| Quizzes/Studio Critics | - | - |
| Homework Assignments | 8 | 10 |
| Presentation | - | - |
| Project | 1 | 15 |
| Report | - | - |
| Seminar | - | - |
| Midterms Exams/Midterms Jury | 2 | 35 |
| Final Exam/Final Jury | 1 | 40 |
| Toplam | 12 | 100 |
| Percentage of Semester Work | 60 |
|---|---|
| Percentage of Final Work | 40 |
| Total | 100 |
Course Category
| Core Courses | X |
|---|---|
| Major Area Courses | |
| Supportive Courses | |
| Media and Managment Skills Courses | |
| Transferable Skill Courses |
The Relation Between Course Learning Competencies and Program Qualifications
| # | Program Qualifications / Competencies | Level of Contribution | ||||
|---|---|---|---|---|---|---|
| 1 | 2 | 3 | 4 | 5 | ||
| 1 | Ability to apply knowledge on Mathematics, Science and Engineering to advanced systems. | X | ||||
| 2 | Implementing long-term research and development studies in the major fields of Electrical and Electronics Engineering. | X | ||||
| 3 | Ability to use modern engineering tools, techniques and facilities in design and other engineering applications. | X | ||||
| 4 | Graduating researchers active on innovation and entrepreneurship. | |||||
| 5 | Ability to report and present research results effectively. | |||||
| 6 | Increasing the performance on accessing information resources and on following recent developments in science and technology. | |||||
| 7 | An understanding of professional and ethical responsibility. | |||||
| 8 | Increasing the performance on effective communications in both Turkish and English. | |||||
| 9 | Increasing the performance on project management. | |||||
| 10 | Ability to work successfully at project teams in interdisciplinary fields. | |||||
ECTS/Workload Table
| Activities | Number | Duration (Hours) | Total Workload |
|---|---|---|---|
| Course Hours (Including Exam Week: 16 x Total Hours) | 16 | 3 | 48 |
| Laboratory | |||
| Application | |||
| Special Course Internship | |||
| Field Work | |||
| Study Hours Out of Class | 16 | 3 | 48 |
| Presentation/Seminar Prepration | |||
| Project | 1 | 15 | 15 |
| Report | |||
| Homework Assignments | 8 | 2 | 16 |
| Quizzes/Studio Critics | |||
| Prepration of Midterm Exams/Midterm Jury | 2 | 2 | 4 |
| Prepration of Final Exams/Final Jury | 1 | 2 | 2 |
| Total Workload | 133 | ||