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ISTANBUL GELİŞİM UNIVERSITY INFORMATION SYSTEM

INTRODUCTION TO ROBOTICS COURSE IDENTIFICATION AND APPLICATION INFORMATION

Code Name of the Course Unit Semester In-Class Hours (T+P) Credit ECTS Credit
UCK352 INTRODUCTION TO ROBOTICS 5 3 3 5

WEEKLY COURSE CONTENTS AND STUDY MATERIALS FOR PRELIMINARY & FURTHER STUDY
Week Preparatory Topics(Subjects) Method
1 - Human/robot characteristics. Classification of robots. Concepts related to industrial robotics. Coordinate systems and homogeneous transformation matrix -
2 - Expression of rotation about an arbitrary axis. Orientation representation with Euler angles. Wrist structures. Derivation of Euler angles from homogeneous transformation matrices -
3 - Surface approaching problem -
4 - Linkages and joints in robots. Denavit-Hartenberg (D-H) representation. Forward kinematic analysis_1 -
5 - Forward kinematic analysis_2 -
6 - Forward kinematic analysis_3 -
7 - Forward kinematic analysis_4 -
8 - Inverse kinematic analysis_1 -
9 - Inverse kinematic analysis_2 -
10 - MID-TERM EXAM -
11 - Inverse kinematic analysis_3 -
12 - Introduction to dynamic analysis (DA) -
13 - Jacobian matrix -
14 - Robot dynamics. Application of Lagrangian dynamics in robots_1 -
15 - Application of Lagrangian dynamics in robots_2 -
16 - FINAL EXAM -
17 - FINAL EXAM -