At the end of this course, the students; 1) Describe and analyze rigid motion 2) Describe manipulator kinematics equations 3) Solve simple inverse kinematics problems 4) Trajectory and motion planning 5) Design a controller for a robot (digital controller-actuator-sensor)
MODE OF DELIVERY
Face to face
PRE-REQUISITES OF THE COURSE
No
RECOMMENDED OPTIONAL PROGRAMME COMPONENT
None.
COURSE DEFINITION
Introduction to electro-mechanic systems, Fundamentals issues in robotics, Forward and inverse kinematics in robotic systems, Dynamics concept in robotic manipulators, Path and Trajectory planning, Analog interfacing; analog signal conditioning, analog /digital and digital/ analog conversion, sensors, transducers and actuators, communication in microcontroller-based systems (SCI ,SPI, I2C), Pulse width modulation for motor control; microcontroller-based control, simple open and closed loop control systems (ON-OFF, P, PI, PID); Servo mechanism, Position, speed and torque control, Introduction to mobile robots.
Communication methods in mikrocontroller based systems
14th Week
Simple robot applications
RECOMENDED OR REQUIRED READING
1-Saeed B. Niku, Introduction to Robotics 2e, Wiley, 2011. 2-J.J. Craig, Introduction to Robotics Mechanics and Control,Second Edition, Addison-Wesley, 1989 3-Microprocessors, From Assembly Language to C Using the PICI8FXX2 4-Process Control Instrumentation Technology, Curtis Johnson, 7th edition, Prentice Hall (2002)
PLANNED LEARNING ACTIVITIES AND TEACHING METHODS
Questions/Answers,Lecture,Presentation
ASSESSMENT METHODS AND CRITERIA
Quantity
Percentage(%)
Mid-term
1
35
Assignment
1
10
Quiz
1
13
Attendance
1
5
Total(%)
63
Contribution of In-term Studies to Overall Grade(%)
63
Contribution of Final Examination to Overall Grade(%)
37
Total(%)
100
ECTS WORKLOAD
Activities
Number
Hours
Workload
Midterm exam
1
2
2
Preparation for Quiz
2
4
8
Individual or group work
14
3
42
Preparation for Final exam
1
12
12
Course hours
14
4
56
Preparation for Midterm exam
1
12
12
Laboratory (including preparation)
0
0
0
Final exam
1
2
2
Homework
2
8
16
Total Workload
150
Total Workload / 30
5
ECTS Credits of the Course
5
LANGUAGE OF INSTRUCTION
Turkish
WORK PLACEMENT(S)
No
KEY LEARNING OUTCOMES (KLO) / MATRIX OF LEARNING OUTCOMES (LO)