# Introduction to Robotics (EE445) Course Detail

Course Name Course Code Season Lecture Hours Application Hours Lab Hours Credit ECTS
Introduction to Robotics EE445 3 0 0 3 5
Pre-requisite Course(s)
EE 326
Course Language English N/A Natural & Applied Sciences Master's Degree Face To Face Lecture, Demonstration, Drill and Practice, Team/Group, Project Design/Management. Asst. Prof. Dr. Hakan TORA Teach the mathematics, design, analysis, and control of robotic systems The students who succeeded in this course; Ability to identify basic components of a robot mechanical arm Ability to understand how to define points, planes, and coordinate frames Ability to understand how to define position and orientation transformation Ability to define joint coordinate frames for a multi-joint robot Ability to define kinematic parameters for a robot Ability to design tasks for robot manipulators Ability to plan Cartesian paths for robot to move Ability to compute robot dynamics, such as inertial forces, centripetal and Coriolis forces, and gravity forces 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 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

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 40 100

### Course Category

Core Courses X

### The Relation Between Course Learning Competencies and Program Qualifications

# Program Qualifications / Competencies Level of Contribution
1 2 3 4 5
1 Ability to apply knowledge on Mathematics, Science and Engineering to advanced systems.
2 Implementing long-term research and development studies in major areas of Electrical and Electronics Engineering.
3 Ability to use modern engineering tools, techniques and facilities in design and other engineering applications.
4 Graduating researchers active on innovation and entrepreneurship.
5 Ability to report and present research results effectively.
6 Increasing the performance on accessing information resources and on following recent developments in science and technology.
7 An understanding of professional and ethical responsibility.
8 Increasing the performance on effective communications in both Turkish and English.
9 Increasing the performance on project management.
10 Ability to work successfully at project teams in interdisciplinary fields.

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