| MATHEMATICS (TURKISH, PHD) | |||||
| PhD | TR-NQF-HE: Level 8 | QF-EHEA: Third Cycle | EQF-LLL: Level 8 | ||
| Course Code | Course Name | Semester | Theoretical | Practical | Credit | ECTS |
| MCH4001 | Fundamentals of Robotics | Fall | 3 | 0 | 3 | 6 |
| The course opens with the approval of the Department at the beginning of each semester |
| Language of instruction: | En |
| Type of course: | Departmental Elective |
| Course Level: | |
| 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 |
| 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: | 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 |
| Application | % 0 | |
| Field Work | % 0 | |
| Special Course Internship (Work Placement) | % 0 | |
| Quizzes | % 0 | |
| Homework Assignments | 7 | % 20 |
| Presentation | % 0 | |
| Project | 1 | % 15 |
| Seminar | % 0 | |
| Midterms | 1 | % 10 |
| Preliminary Jury | % 0 | |
| Final | 1 | % 40 |
| Paper Submission | % 0 | |
| Jury | % 0 | |
| Bütünleme | % 0 | |
| 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 |
| Application | 0 | 0 | 0 |
| Special Course Internship (Work Placement) | 0 | 0 | 0 |
| Field Work | 0 | 0 | 0 |
| Study Hours Out of Class | 14 | 5 | 70 |
| Presentations / Seminar | 0 | 0 | 0 |
| Project | 1 | 20 | 20 |
| Homework Assignments | 6 | 1 | 6 |
| Quizzes | 0 | 0 | 0 |
| Preliminary Jury | 0 | 0 | 0 |
| Midterms | 1 | 2 | 2 |
| Paper Submission | 0 | 0 | 0 |
| Jury | 0 | 0 | 0 |
| Final | 1 | 3 | 3 |
| Total Workload | 149 | ||
| No Effect | 1 Lowest | 2 Low | 3 Average | 4 High | 5 Highest |
| Program Outcomes | Level of Contribution |