Code |
Name of the Course Unit |
Semester |
In-Class Hours (T+P) |
Credit |
ECTS Credit |
UCK352 |
INTRODUCTION TO ROBOTICS |
5 |
3 |
3 |
5 |
GENERAL INFORMATION |
Language of Instruction : |
Turkish |
Level of the Course Unit : |
BACHELOR'S DEGREE, TYY: + 6.Level, EQF-LLL: 6.Level, QF-EHEA: First Cycle |
Type of the Course : |
Elective |
Mode of Delivery of the Course Unit |
- |
Coordinator of the Course Unit |
Prof. OSMAN KOPMAZ |
Instructor(s) of the Course Unit |
Prof. OSMAN KOPMAZ |
Course Prerequisite |
No |
OBJECTIVES AND CONTENTS |
Objectives of the Course Unit: |
• Understanding the kinematic structures of industrial robots. • Creating mathematical models of industrial robots. • Emphasizing the effect of robot dynamics on robot control. |
Contents of the Course Unit: |
Human/robot characteristics. Classification of robots. Concepts related to industrial robotics. Robot kinematics, coordinate systems and transformations, links and joints in robots, modeling based on geometry. Denavit-Hartenberg representation. Robot dynamics, application of Lagrange dynamic analysis method in robots. |
KEY LEARNING OUTCOMES OF THE COURSE UNIT (On successful completion of this course unit, students/learners will or will be able to) |
To know the types of industrial robots, to predict their areas of use. To know the product ranges of current industrial robot companies. To be able to interpret the kinematics of wrist structures correctly. To find the end organ position and orientation caused by known joint conditions. To determine the orientation to approach a surface with a known slope perpendicularly. To predict the joint conditions to reach the end of the robot to a desired position with a desired orientation. To be able to determine the force or torque values driving the joints of simple robotic structures. |
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 |
- |
MID-TERM EXAM |
- |
9 |
- |
Inverse kinematic analysis_1 |
- |
10 |
- |
Inverse kinematic analysis_2 |
- |
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 |
- |
SOURCE MATERIALS & RECOMMENDED READING |
Saha, S. K., Introduction to Robotics. 2010, McGraw Hill. |
Paul, R.P., Robot Manipulators: Mathematics, Programming and Control, 1981,The MIT Press. |
ASSESSMENT |
Assessment & Grading of In-Term Activities |
Number of Activities |
Degree of Contribution (%) |
Description |
Examination Method |
Mid-Term Exam |
1 |
30 |
|
|
Homework Assessment |
1 |
10 |
|
|
Short Exam |
1 |
10 |
|
|
Final Exam |
1 |
50 |
|
|
TOTAL |
4 |
100 |
|
|
Level of Contribution |
0 |
1 |
2 |
3 |
4 |
5 |
CONTRIBUTION OF THE COURSE UNIT TO THE PROGRAMME LEARNING OUTCOMES
KNOWLEDGE |
Theoretical |
|
Programme Learning Outcomes |
Level of Contribution |
0 |
1 |
2 |
3 |
4 |
5 |
1 |
Ability to apply mathematics, science and engineering knowledge.
|
|
|
|
|
4 |
|
KNOWLEDGE |
Factual |
|
Programme Learning Outcomes |
Level of Contribution |
0 |
1 |
2 |
3 |
4 |
5 |
1 |
Ability to apply mathematics, science and engineering knowledge.
|
|
|
|
|
4 |
|
SKILLS |
Cognitive |
|
Programme Learning Outcomes |
Level of Contribution |
0 |
1 |
2 |
3 |
4 |
5 |
1 |
Ability to design experiments, conduct experiments, collect data, analyze and interpret results.
|
|
|
|
|
4 |
|
SKILLS |
Practical |
|
Programme Learning Outcomes |
Level of Contribution |
0 |
1 |
2 |
3 |
4 |
5 |
1 |
A system, product or process has economic, environmental, social, political, ethical, health and safety,
under realistic constraints and conditions such as feasibility and sustainability,
Ability to design to meet requirements.
|
|
|
|
3 |
|
|
OCCUPATIONAL |
Autonomy & Responsibility |
|
Programme Learning Outcomes |
Level of Contribution |
0 |
1 |
2 |
3 |
4 |
5 |
1 |
Ability to work in teams with different disciplines
|
|
|
|
|
4 |
|
OCCUPATIONAL |
Learning to Learn |
|
Programme Learning Outcomes |
Level of Contribution |
0 |
1 |
2 |
3 |
4 |
5 |
1 |
Ability to identify, formulate and solve engineering problems
|
|
|
|
|
4 |
|
OCCUPATIONAL |
Communication & Social |
|
Programme Learning Outcomes |
Level of Contribution |
0 |
1 |
2 |
3 |
4 |
5 |
1 |
Awareness of having professional and ethical responsibilities.
|
|
|
2 |
|
|
|
2 |
Ability to communicate effectively verbally and in writing.
|
|
|
2 |
|
|
|
OCCUPATIONAL |
Occupational and/or Vocational |
|
Programme Learning Outcomes |
Level of Contribution |
0 |
1 |
2 |
3 |
4 |
5 |
1 |
The ability to have a comprehensive education to understand the impact of engineering solutions on global and social dimensions.
|
|
|
|
|
4 |
|
2 |
Awareness of the necessity of lifelong learning and the ability to do so.
|
|
|
2 |
|
|
|
3 |
The ability to have knowledge about current/contemporary issues.
|
|
|
|
3 |
|
|
4 |
Ability to use the techniques required for engineering applications and modern engineering and calculation equipment.
|
|
|
|
|
4 |
|
WORKLOAD & ECTS CREDITS OF THE COURSE UNIT |
Workload for Learning & Teaching Activities |
Type of the Learning Activites |
Learning Activities (# of week) |
Duration (hours, h) |
Workload (h) |
Lecture & In-Class Activities |
14 |
3 |
42 |
Preliminary & Further Study |
14 |
3 |
42 |
Land Surveying |
0 |
0 |
0 |
Group Work |
0 |
0 |
0 |
Laboratory |
0 |
0 |
0 |
Reading |
0 |
0 |
0 |
Assignment (Homework) |
4 |
7 |
28 |
Project Work |
0 |
0 |
0 |
Seminar |
0 |
0 |
0 |
Internship |
0 |
0 |
0 |
Technical Visit |
0 |
0 |
0 |
Web Based Learning |
0 |
0 |
0 |
Implementation/Application/Practice |
0 |
0 |
0 |
Practice at a workplace |
0 |
0 |
0 |
Occupational Activity |
0 |
0 |
0 |
Social Activity |
0 |
0 |
0 |
Thesis Work |
0 |
0 |
0 |
Field Study |
0 |
0 |
0 |
Report Writing |
0 |
0 |
0 |
Final Exam |
1 |
1 |
1 |
Preparation for the Final Exam |
1 |
4 |
4 |
Mid-Term Exam |
1 |
2 |
2 |
Preparation for the Mid-Term Exam |
1 |
4 |
4 |
Short Exam |
3 |
3 |
9 |
Preparation for the Short Exam |
3 |
5 |
15 |
TOTAL |
42 |
0 |
147 |
|
Total Workload of the Course Unit |
147 |
|
|
Workload (h) / 25.5 |
5,8 |
|
|
ECTS Credits allocated for the Course Unit |
6,0 |
|