Course Weekly Lecture Plan

Week	Topic
1	Human / robot considerations. Classification of robots, concepts of industrial robotics. Coordinate systems, transformations and homogeneous transformation matrix. The concept of forward-inverse kinematics; The robot company will be selected for the seminar (%5).
2	The representation of a rotation about a random axis. Representation of rotations by euler angles. Wrist structures. Derivation of euler angles from homogeneous transformation matrices. Homework_1 (%3) due to week 3 classroom until 9.00.
3	Joints and links. Denavit-Hartenberg representation (D-H). Direct Kinematic analysis_1.
4	Direct=forward kinematic analysis_2; (%6). D-H FK (%3) solution due to week 6, MATLAB code (%3) due to week 7until 9.00.
5	Quiz (%5). Direct=forward kinematic analysis_3.
6	Direct=forward kinematic analysis_4. Seminar (%5). All students will present the product spectrum of their selected company and will show the DH model of a determined robot.
7	Inverse Kinematic analysis_1. The problem of approaching a surface. The concept of inverse kinematics. Calculation of orientation angles for a wrist structure.
8	Inverse Kinematic analysis_2.
9	Inverse Kinematic analysis_3. Mid term, (%25, contents: transformations, Forward Kinematics, Calculation of orientation angles for a wrist structure approaching a surface)
10	Inverse Kinematic analysis_4. Homework on Inverse Kinematic Trajectory (6%); IK solution (%3) due to week 11, Trajectory MATLAB code (%3) due to week 13 until 9.00.
11	Trajectory of a joint.
12	Introduction to dynamical analysis (DA). Jacobian matrices_1.
13	Jacobian matrices_2.
14	Application of Lagrangian dynamics 1.

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