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KON 318E
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Course Information
Course Weekly Lecture Plan
Course Evaluation Criteria
Course Information
Course Name
Turkish
Robotik'e Giriş
English
Introduction to Robotics
Course Code
KON 318E
Credit
Lecture
(hour/week)
Recitation
(hour/week)
Laboratory
(hour/week)
Semester
7
3
3
-
-
Course Language
English
Course Coordinator
Hakan Temeltaş
Course Objectives
1. To teach students to understand the importance of the robotics systems in control and automation systems.
2. To teach student to develop kinematic and dynamic models of robot manipulators
3. To teach students to develop motion planning and basic control techniques for robot manipulators
4. To provide experience in using software packages to solve control engineering problems.
5. To provide practice for developing critical thinking skills and solving open ended problems.
Course Description
Introduction, Rigid motions. Homogeneous transformations. Robot forward kinematics. Robot inverse kinematics. Differential kinematics and Jacobeans. Motion planning and trajectory generation. Robot dynamics. Mobile robots. Independent joint control. Robot sensors and actuators.
Course Outcomes
Bu dersi başarıyla tamamlayan öğrenciler;
I. Robotik sistemlerin kontrol mühendisliği alanı için önemini anlamış olma,
II. Temel katı cisim hareketlerini ve homojen dönüşümleri anlayabilme,
III. Verilen bir robot kolunun düz ve ters kinematik modellerini oluşturabilme,
IV. Robot analiz ve tasarım problemleri için hız kinematiği ve Jakobiyan operatörü geliştirebilme,
V. Robot manipülatörleri için dinamik model geliştirebilme
VI. Robot manipülatörleri için hareket planlama ve kontrol teknikleri geliştirebilme,
VII. Mobil robotların modelleme ve kontrolünü anlayabilme,
VIII. Robotik sistemlerde kullanılan sensör ve eyleyici teknolojilerini anlayabilme,
IX. Robotik sistemlerin analiz ve tasarımında yazılım gereçleri kullanabilme,
becerilerine sahip olacaktır.
Pre-requisite(s)
Non
Required Facilities
Students are proposed to make use of MATLAB/SIMULINK, Control Toolbox, Symbolic Toolbox programs for their homeworks.
Other
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Textbook
M. Spong, S. Hutchinson, and M. Vidyasagar,“Robot Modeling and Control”, Wiley, 2006
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