| MECHATRONICS ENGINEERING | |||||
| Bachelor | TR-NQF-HE: Level 6 | QF-EHEA: First Cycle | EQF-LLL: Level 6 | ||
| Course Code | Course Name | Semester | Theoretical | Practical | Credit | ECTS |
| MCH4001 | Fundamentals of Robotics | Fall | 3 | 0 | 3 | 6 |
| This catalog is for information purposes. Course status is determined by the relevant department at the beginning of semester. |
| Language of instruction: | English |
| Type of course: | Departmental Elective |
| Course Level: | Bachelor’s Degree (First Cycle) |
| Mode of Delivery: | Face to face |
| Course Coordinator : | Assoc. Prof. MEHMET BERKE GÜR |
| Course Lecturer(s): |
Assoc. Prof. MEHMET BERKE GÜR RA MAHMUT AĞAN Prof. Dr. NAFİZ ARICA |
| Recommended Optional Program Components: | None. |
| Course Objectives: | The aim of this course is to provide the students with the fundamental theory for the design and analysis of industrial manipulators. The course objectives include: 1) Introducing the necessary mathematical tools for describing position and orientation of objects, 2) Presenting the systematic methodology for conducting forward/inverse kinematic analysis, 3) Explaining the derivation of the Jacobian and its significance in the analysis of manipulators, 4) Providing the students with a systematic method for deriving the equations of motion for a manipulator, 5) Examining various trajectory generation methods, 6) Explaining the independent joint control strategy, 7) Analyzing different control schemes, 8) Providing the students with hands-on experience in analysis of manipulators during lab sessions. |
|
The students who have succeeded in this course; 1) Identifies the configuration of a manipulator, 2) Associates the task with a suitable manipulator configuration, 3) Mathematically describes the position and orientation of objects in 3D space, 4) Constructs the Denavit-Hartenberg table and performs a forward/inverse kinematic analysis, 5) Calculates the Jacobian and identifies the singularity points, 6) Applies Euler-Lagrange’s equations of motion to derive the force-acceleration relation at each link, 7) Defines and generates a trajectory that fulfills the requirements of the task, 8) Designs and evaluates a PID type controller for each manipulator link. |
| MCH4001 Fundamentals of Robotics is an introductory course in robotics. The course will focus on robot manipulators with the course content divided into three parts. The first part will be related to manipulator kinematics. Material covered in this first part will include position and orientation of a body, the Denavit-Hartenberg convention and kinematic analysis, inverse kinematics, and Jacobians. The second part of the course will be based on the dynamics of robot manipulators. The final part of the course will focus on trajectory planning, linear and non-linear control of manipulators, and force control. 1. Week: Introduction to Robotics and Manipulators 2.Week: Spatial Descriptions & Transformations 3.Week: Manipulator Kinematics-I 4.Week: Manipulator Kinematics-II 5.Week: Inverse Kinematics 6.Week: Jacobians & Velocity Kinematics 7.Week: Static Forces 8.Week: Midterm Exam 9.Week: Euler-Lagrange Dynamics-I 10.Week: Euler-Lagrange Dynamics-II 11.Week: Trajectory Generation & Motion/Path Planning 12.Week: Independent Joint Control 13.Week: Multivariate Control & Force Control 14.Week: Advanced Topics and Summary |
| Week | Subject | Related Preparation |
| 1) | Introduction to Robotics and Manipulators | |
| 2) | Spatial Descriptions & Transformations | |
| 3) | Manipulator Kinematics-I | |
| 4) | Manipulator Kinematics-II | |
| 5) | Inverse Kinematics | |
| 6) | Jacobians & Velocity Kinematics | |
| 7) | Static Forces | |
| 8) | Midterm Exam | |
| 9) | Euler-Lagrange Dynamics -I | |
| 10) | Euler-Lagrange Dynamics -II | |
| 11) | Trajectory Generation & Motion/Path Planning | |
| 12) | Independent Joint Control | |
| 13) | Multivariate Control & Force Control | |
| 14) | Advanced Topics and Summary |
| Course Notes / Textbooks: | 1) M. W. Spong., S. Hutchinson, M. Vidyasagar, “Robot Modeling and Control”, Wiley, 2006, ISBN: 978-0-471-64990-8. 2) J. J. Craig, “Introduction to Robotics: Mechanics and Control”, 3rd ed., Pearson, 2005, ISBN: 0-13-123629-6. |
| References: | 1) Ders notları / Lecture notes |
| Semester Requirements | Number of Activities | Level of Contribution |
| Attendance | 14 | % 0 |
| Laboratory | 3 | % 15 |
| Homework Assignments | 7 | % 20 |
| Project | 1 | % 15 |
| Midterms | 1 | % 10 |
| Final | 1 | % 40 |
| Total | % 100 | |
| PERCENTAGE OF SEMESTER WORK | % 45 | |
| PERCENTAGE OF FINAL WORK | % 55 | |
| Total | % 100 | |
| Activities | Number of Activities | Duration (Hours) | Workload |
| Course Hours | 14 | 3 | 42 |
| Laboratory | 3 | 2 | 6 |
| Study Hours Out of Class | 14 | 5 | 70 |
| Project | 1 | 20 | 20 |
| Homework Assignments | 6 | 1 | 6 |
| Midterms | 1 | 2 | 2 |
| Final | 1 | 3 | 3 |
| Total Workload | 149 | ||
| No Effect | 1 Lowest | 2 Low | 3 Average | 4 High | 5 Highest |
| Program Outcomes | Level of Contribution | |
| 1) | Build up a body of knowledge in mathematics, science and Mechatronics Engineering subjects; use theoretical and applied information in these areas to model and solve complex engineering problems. | 5 |
| 2) | Identify, formulate, and solve complex Mechatronics Engineering problems; select and apply proper modeling and analysis methods for this purpose. | 4 |
| 3) | Design complex Mechatronic systems, processes, devices or products under realistic constraints and conditions, in such a way as to meet the desired result; apply modern design methods for this purpose. | 5 |
| 4) | Devise, select, and use modern techniques and tools needed for solving complex problems in Mechatronics Engineering practice; employ information technologies effectively. | 5 |
| 5) | Design and conduct numerical or pysical experiments, collect data, analyze and interpret results for investigating the complex problems specific to Mechatronics Engineering. | 5 |
| 6) | Cooperate efficiently in intra-disciplinary and multi-disciplinary teams; and show self-reliance when working on Mechatronics-related problems. | 3 |
| 7) | Ability to communicate effectively in English and Turkish (if he/she is a Turkish citizen), both orally and in writing. Write and understand reports, prepare design and production reports, deliver effective presentations, give and receive clear and understandable instructions. | 4 |
| 8) | Recognize the need for life-long learning; show ability to access information, to follow developments in science and technology, and to continuously educate oneself. | 3 |
| 9) | Develop an awareness of professional and ethical responsibility, and behave accordingly. Be informed about the standards used in Mechatronics Engineering applications. | 1 |
| 10) | Learn about business life practices such as project management, risk management, and change management; develop an awareness of entrepreneurship, innovation, and sustainable development. | 3 |
| 11) | Acquire knowledge about the effects of practices of Mechatronics Engineering on health, environment, security in universal and social scope, and the contemporary problems of Mechatronics engineering; is aware of the legal consequences of Mechatronics engineering solutions. |