TYPE OF COURSE UNIT	Elective Course
LEVEL OF COURSE UNIT	Bachelor's Degree
YEAR OF STUDY	-
SEMESTER	-
NUMBER OF ECTS CREDITS ALLOCATED	5
NAME OF LECTURER(S)	Assistant Professor Bülent İrfanoğlu
LEARNING OUTCOMES OF THE COURSE UNIT	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.
COURSE CONTENTS	WEEK TOPICS 1st Week Introduction to robotics 2nd Week Position and orientation analysis in robotic 3rd Week Forward and inverse kinematic model and equation 4th Week Kinematic equations, Denavit-Hartenberg (D-H)parameters 5th Week Trajectory and motion planning 6th Week Trajectory and motion planning 7th Week Introduction to robot dynamic 8th Week Midterm Exam 9th Week Position, speed and torque control in robotics 10th Week Position, speed and torque control in robotics 11th Week Sensors and transducers 12th Week Motors and drivers 13th Week 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	English
WORK PLACEMENT(S)	No