INTRODUCTION TO ROBOTIC SYSTEMS PROGRAMME COURSE DESCRIPTION

Code	Name of the Course Unit	Semester	In-Class Hours (T+P)	Credit	ECTS Credit
EEM423	INTRODUCTION TO ROBOTIC SYSTEMS	6	3	3	6

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	Assist.Prof. OĞUZHAN ÖZTAŞ
Instructor(s) of the Course Unit
Course Prerequisite	No

OBJECTIVES AND CONTENTS
Objectives of the Course Unit:	To teach the students mathematics, design, analysis and control of robotic systems
Contents of the Course Unit:	Definition and Scope of Robot Systems, Coordinate Frame Selection, Homogeneous Transformations, Solutions Of Kinematic Equations, Velocity and Force, Moment Relations, Manipulator Dynamics in Lagrange Formulation, Numerical Simulation of Manipulator Motion, Motion Planning, Avoidance Control Unit Design With Calculated Torque Method, Classical Control Units For Manipulators

KEY LEARNING OUTCOMES OF THE COURSE UNIT (On successful completion of this course unit, students/learners will or will be able to)
Apply math, science and engineering knowledge. This course covers the basic fundamentals for robot control. It requires linear algebra and differential equations knowledge and ability to apply mathematical fundamentals for modeling.
Design a system, component or process to meet desired needs. The students are required to design simple and complex (model based) controllers for robot manipulation.
Ability to identify formulate and solve engineering problems. The course teaches the fundamentals to model a robotic manipulator. Given a certain manipulation task the student is required to understand and formulate the necessary control architecture.
Use of modern engineering tools. Computer simulation tools are used to better understand the manipulator dynamics. A specific homework is given to simulate and control a two link arm.

WEEKLY COURSE CONTENTS AND STUDY MATERIALS FOR PRELIMINARY & FURTHER STUDY
Week	Preparatory	Topics(Subjects)	Method
1	-	Introduction and a general perspective on Robotics. Objects in 3-D Space. Positions, orientations and frames. Translations, rotations, transformations. Transformation arithmetic	-
2	-	Introduction and a general perspective on Robotics. Objects in 3-D Space. Positions, orientations and frames. Translations, rotations, transformations. Transformation arithmetic	-
3	-	Different manipulator designs. Manipulator kinematics. Frame assignments. Affixing frames to links. Computational considerations. Actuator space, joint space concepts	-
4	-	Different manipulator designs. Manipulator kinematics. Frame assignments. Affixing frames to links. Computational considerations. Actuator space, joint space concepts	-
5	-	Inverse kinematics. Algebraic versus geometric computation.	-
6	-	Manipulator dynamics. Acceleration of a rigid body. Structure of manipulator dynamics. Lagrangian formulation of manipulator dynamics. 2 link manipulator dynamics	-
7	-	Manipulator dynamics. Acceleration of a rigid body. Structure of manipulator dynamics. Lagrangian formulation of manipulator dynamics. 2 link manipulator dynamics	-
8	-	MID-TERM EXAM	-
9	-	Linear control of manipulators. Feedback control techniques. Servo and regulatory control of manipulators. Trajectory following control. Modeling and control of single link arm	-
10	-	Linear control of manipulators. Feedback control techniques. Servo and regulatory control of manipulators. Trajectory following control. Modeling and control of single link arm	-
11	-	Dynamic simulation concepts. Simulation exercise. Disturbance rejection	-
12	-	Nonlinear control of manipulators. Multi input multi output control. Feedback linearizing control.	-
13	-	Nonlinear control of manipulators. Multi input multi output control. Feedback linearizing control.	-
14	-	Stability concepts. Lyapunov stability analysis of manipulator control techniques. Adaptive control concepts. Adaptive control of robotic manipulators.	-
15	-	Stability concepts. Lyapunov stability analysis of manipulator control techniques. Adaptive control concepts. Adaptive control of robotic manipulators.	-
16	-	FINAL EXAM	-
17	-	FINAL EXAM	-

SOURCE MATERIALS & RECOMMENDED READING
Asada, H., and J. J. Slotine. Robot Analysis and Control. New York, NY: Wiley, 1986. ISBN: 9780471830290.

ASSESSMENT
Assessment & Grading of In-Term Activities	Number of Activities	Degree of Contribution (%)	Description

Level of Contribution
0	1	2	3	4	5

KNOWLEDGE
Theoretical
	Programme Learning Outcomes	Level of Contribution
		0	1	2	3	4	5
1	Explains the fundamental engineering concepts of computer science and relates them to the groundwork of computer science.

KNOWLEDGE
Factual
	Programme Learning Outcomes	Level of Contribution
		0	1	2	3	4	5
1	Uses theoretical and practical knowledge coming from mathematics, probability, statistics and various other branches of life sciences, to find solutions to engineering problems.

SKILLS
Cognitive
	Programme Learning Outcomes	Level of Contribution
		0	1	2	3	4	5
1	Determines the components and the underlying process of a system and designs an appropriate computational model under reasonable constraints.
2	Designs a computer-aided conceptual model with modern techniques.

SKILLS
Practical
	Programme Learning Outcomes	Level of Contribution
		0	1	2	3	4	5
1	Determines, detects and analyzes the areas of computer science applications and develops appropriate solutions.
2	Identifies, models and solves computer engineering problems by applying appropriate analytical methods.
3	Determines and uses the necessary information technologies in an efficient way for engineering applications.

OCCUPATIONAL
Autonomy & Responsibility
	Programme Learning Outcomes	Level of Contribution
		0	1	2	3	4	5
1	Possess the responsibility and ability to design and conduct experiments for engineering problems by collecting, analyzing and interpreting data.
2	Possess the ability to conduct effective individual study.
3	Takes responsibility as a team work and contributes in an effective way.

OCCUPATIONAL
Learning to Learn
	Programme Learning Outcomes	Level of Contribution
		0	1	2	3	4	5
1	Monitors the developments in the field of information technologies by means of internet and related journals and possess the required knowledge for the management, control, development and security of information technologies.
2	Develops positive attitude towards lifelong learning.

OCCUPATIONAL
Communication & Social
	Programme Learning Outcomes	Level of Contribution
		0	1	2	3	4	5
1	Communicates effectively by oral and/or written form and uses at least one foreign language.
2	Possess sufficient consciousness about the issues of project management, practical applications and also environmental protection, worker's health and security.

OCCUPATIONAL
Occupational and/or Vocational
	Programme Learning Outcomes	Level of Contribution
		0	1	2	3	4	5
1	Possess professional and ethical responsibility and willingness to share it.
2	Possess sufficient consciousness about the universality of engineering solutions and applications and be well aware of the importance of innovation.

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	5	5	25
Assignment (Homework)	2	4	8
Project Work	0	0	0
Seminar	0	0	0
Internship	0	0	0
Technical Visit	0	0	0
Web Based Learning	3	5	15
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	3	5	15
Final Exam	1	1	1
Preparation for the Final Exam	0	0	0
Mid-Term Exam	1	1	1
Preparation for the Mid-Term Exam	0	0	0
Short Exam	2	2	4
Preparation for the Short Exam	0	0	0
TOTAL	45	0	153