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 | Bachelor’s Degree (First Cycle) |
| 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 | Possesses sufficient knowledge in mathematics, natural sciences, and discipline-specific topics in Electrical and Electronics Engineering; uses this theoretical and practical knowledge to solve complex engineering problems. | X | ||||
| 2 | Identifies, defines, formulates, and solves complex engineering problems; selects and applies appropriate analytical and modeling methods for this purpose. | X | ||||
| 3 | Designs complex systems, processes, devices, or products under realistic constraints and conditions to meet specific requirements; applies modern design methods for this purpose. (Realistic constraints and conditions may include factors such as economy, environmental issues, sustainability, manufacturability, ethics, health, safety, social and political issues, depending on the nature of the design.) | X | ||||
| 4 | Selects and uses modern techniques and tools necessary for the analysis and solution of complex problems encountered in engineering applications; effectively uses information technologies. | X | ||||
| 5 | Designs experiments, conducts tests, collects data, analyzes, and interprets results to investigate complex engineering problems or discipline-specific research topics. | X | ||||
| 6 | Works effectively in disciplinary and interdisciplinary teams; develops the ability to work independently. | X | ||||
| 7 | Communicates effectively in both written and verbal forms; possesses proficiency in at least one foreign language; writes effective reports, understands written reports, prepares design and production reports, delivers effective presentations, and gives and receives clear instructions. | X | ||||
| 8 | Recognizes the need for lifelong learning; accesses information, follows developments in science and technology, and continuously renews oneself. | X | ||||
| 9 | Acts in accordance with ethical principles, assumes professional and ethical responsibility, and possesses knowledge about the standards used in engineering practices. | X | ||||
| 10 | Possesses knowledge about professional practices such as project management, risk management, and change management; gains awareness of entrepreneurship and innovation; understands the principles of sustainable development. | X | ||||
| 11 | Understands the universal and societal impacts of engineering practices on health, environment, and safety; recognizes the contemporary issues reflected in the field of engineering and understands the legal implications of engineering solutions. | X | ||||
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 | ||