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| ELKI7160 | Mechatronics and Robots | 3+0+0 | ECTS:7.5 | | Year / Semester | Fall Semester | | Level of Course | Third Cycle | | Status | Elective | | Department | DEPARTMENT of ELECTRICAL and ELECTRONICS ENGINEERING | | Prerequisites and co-requisites | None | | Mode of Delivery | | | Contact Hours | 14 weeks - 3 hours of lectures per week | | Lecturer | Dr. Öğr. Üyesi Emrah BENLİ | | Co-Lecturer | | | Language of instruction | | | Professional practise ( internship ) | None | | | | The aim of the course: | | Analysis of robot manipulator systems. Emphasis is on kinematics of rigid-link, multi-joint and continuum (snakelike) robots. Analysis of cutting edge technology in robotics. |
| Programme Outcomes | CTPO | TOA | | Upon successful completion of the course, the students will be able to : | | | | PO - 1 : | Have sufficient knowledge on the history of robotics technology with the definitions and key concepts. | 1 - 3 - 7 - 8 | 1, | | PO - 2 : | Have sufficient information for analysis on Forward Kinematics: Homogeneous Transformations and The Denavit-Hartenberg Algorithm. | 1 - 3 - 4 | 1, | | PO - 3 : | Have sufficient information for analysis on Inverse Kinematics: Geometric Techniques and Analytical Techniques. | 1 - 3 - 4 | 1, | | PO - 4 : | Have sufficient knowledge on Velocity Kinematics: Manipulator Jacobian, Application to inverse kinematics/singularity analysis, Jacobian computation, Statics. | 1 - 3 - 4 | 1, | | PO - 5 : | Have sufficient knowledge on Dynamics and Control, Kinetic, Potential energy.Understand Lagrangian manipulator dynamic models, Inverse Dynamics controllers and Industrial set point PD control. | 1 - 2 - 3 - 5 | 1, | | PO - 6 : | Understand the Multi-joint and continuum (snakelike) robot kinematics. Analyze the cutting edge robot technology. | 2 - 5 - 7 - 8 | 1, | | PO - 7 : | Simulate Forward and Inverse kinematics applications via Matlab
environment and practice team work.
| 6 - 7 | 3,5,6, | | CTPO : Contribution to programme outcomes, TOA :Type of assessment (1: written exam, 2: Oral exam, 3: Homework assignment, 4: Laboratory exercise/exam, 5: Seminar / presentation, 6: Term paper), PO : Learning Outcome | | |
| Introduction to the robotics technology. Analysis of kinematics: forward, inverse, and velocity (Jacobian). Analysis of Dynamics (Lagrangian) and Control (Conventional and Inverse Dynamics). Learning multi-joint and continuum (snakelike) robot kinematics. Simulation of the robot manipulators
Analysis of cutting edge robot technology and recent studies.
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| Course Syllabus | | Week | Subject | Related Notes / Files | | Week 1 | Brief history of robots | | | Week 2 | Common robot structural designs | | | Week 3 | Forward Kinematics | | | Week 4 | Forward Kinematics | | | Week 5 | Inverse Kinematics | | | Week 6 | Inverse Kinematics | | | Week 7 | Velocity Kinematics | | | Week 8 | Velocity Kinematics | | | Week 9 | Mid-term exam | | | Week 10 | Dynamics and Control | | | Week 11 | Multi-joint and continuum (snakelike) robot kinematics | | | Week 12 | Multi-joint and continuum (snakelike) robot kinematics | | | Week 13 | Simulation of the robot manipulators | | | Week 14 | Analysis of cutting edge robot technology and recent studies | | | Week 15 | Analysis of cutting edge robot technology and recent studies | | | Week 16 | End-of-term exam | | | |
| 1 | Sunum ve ders notları | | | 2 | M. Spong, S. Hutchinson, and M. Vidyasagar, Robot Modeling and Control, Wiley | | | |
| Method of Assessment | | Type of assessment | Week No | Date | Duration (hours) | Weight (%) | | Mid-term exam | 9 | | 2 | 10 | | Project | 14 | | 10 | 30 | | Presentation | 12 | | 2 | 10 | | End-of-term exam | 16 | | 2 | 50 | | |
| Student Work Load and its Distribution | | Type of work | Duration (hours pw) | No of weeks / Number of activity | Hours in total per term | | Yüz yüze eğitim | 3 | 14 | 42 | | Sınıf dışı çalışma | 5 | 14 | 70 | | Arasınav için hazırlık | 2 | 7 | 14 | | Arasınav | 4 | 6 | 24 | | Ödev | 4 | 5 | 20 | | Proje | 2 | 10 | 20 | | Dönem sonu sınavı için hazırlık | 1 | 5 | 5 | | Dönem sonu sınavı | 2 | 1 | 2 | | Total work load | | | 197 |
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