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 | Adequate knowledge in mathematics, science and engineering subjects pertaining to the relevant discipline; ability to use theoretical and applied knowledge in these areas in the solution of complex engineering problems. | |||||
| 2 | Ability to formulate, and solve complex mechatronics engineering problems; ability to select and apply proper analysis and modeling methods for this purpose. | |||||
| 3 | Ability to design a complex mechatronics engineering system, process, device or product under realistic constraints and conditions, in such a way as to meet the desired result; ability to apply modern design methods for this purpose. | |||||
| 4 | Ability to select and use modern techniques and tools needed for analyzing and solving complex problems encountered in mechatronics engineering and robot technology practices; ability to employ information technologies effectively. | |||||
| 5 | Ability to design and conduct experiments, gather data, analyze and interpret results for investigating complex mechatronics engineering and robot technology problems or research questions. | |||||
| 6 | Ability to work efficiently in intra-disciplinary and multi-disciplinary teams; ability to work individually. | |||||
| 7 | Ability to communicate effectively, both orally and in writing; knowledge of a minimum of one foreign language; ability to write effective reports and comprehend written reports, prepare design and production reports, make effective presentations, and give and receive clear and intelligible instructions. | |||||
| 8 | Awareness of the need for lifelong learning; ability to access information, to follow developments in science and technology, and to continue to educate him/herself | |||||
| 9 | a-) Knowledge on behavior according to ethical principles, professional and ethical responsibility b-) Knowledge on standards used in engineering practices. | |||||
| 10 | a-) Knowledge about business life practices such as project management, risk management, and change management b-) Awareness in entrepreneurship, innovation; knowledge about sustainable development. | |||||
| 11 | Knowledge about the global and social effects of engineering practices on health, environment, and safety, and contemporary issues of the century reflected into the field of engineering; awareness of the legal consequences of engineering solutions. | |||||
| 12 | Competency on defining, analyzing and surveying databases and other sources, proposing solutions based on research work and scientific results and communicate and publish numerical and conceptual solutions in the field of mechatronics engineering. | |||||
| 13 | Consciousness on the environment and social responsibility, competencies on observation, improvement and modify and implementation of projects for the society and social relations and be an individual within the society in such a way that planning, improving or changing the norms with a criticism. | |||||
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 | ||