Mechanical Engineering
Course Details
KTO KARATAY UNIVERSITY
Faculty of Engineering
Programme of Mechanical Engineering
Course Details
Faculty of Engineering
Programme of Mechanical Engineering
Course Details
| Course Code | Course Name | Year | Period | Semester | T+A+L | Credit | ECTS |
|---|---|---|---|---|---|---|---|
| MAK6339 | Robotics | 3 | Spring | 6 | 3+0+0 | 3 | 3 |
| Course Type | Elective |
| Course Cycle | Bachelor's (First Cycle) (TQF-HE: Level 6 / QF-EHEA: Level 1 / EQF-LLL: Level 6) |
| Course Language | Turkish |
| Methods and Techniques | - |
| Mode of Delivery | Face to Face |
| Prerequisites | - |
| Coordinator | Prof. Faruk ÜNSAÇAR |
| Instructor(s) | - |
| Instructor Assistant(s) | - |
Course Content
Robot Definition, Degree of Freedom, Industrial Robot Structures, Working Space, General / Joint Coordinate Sets, Robot Properties, Flat Kinematics, Coordinate Sets, Coordinate Transformations, Basic Rotation Matrices, Homogeneous Coordinate System, Homogeneous Transformation Matrix, Complex Homogeneous Transformation Matrix, Kinematic Parameters , Denavit-Hartenberg Representation, Arm Matrix, Screw Conversion Matrix, Robot Jacobian Matrix, Lagrange Equations, Arm Jakobian Matrix, Control System Basics, Motion Control, Modeling of Each Joint, Position and Speed Feedback
Objectives of the Course
The aim of this course is to provide the students with a general knowledge on robotics and to make them more familiar with the topic. Basic issues include flat / inverse kinematic, robot types, dynamics of robots and control of robot systems.
Contribution of the Course to Field Teaching
| Basic Vocational Courses | |
| Specialization / Field Courses | |
| Support Courses | |
| Transferable Skills Courses | |
| Humanities, Communication and Management Skills Courses |
Weekly Detailed Course Contents
| Week | Topics |
|---|---|
| 1 | Introduction |
| 2 | Robot Systems |
| 3 | Coordinate Transformations |
| 4 | Joint Coordinates |
| 5 | Arm Equations |
| 6 | Inverse Kinematics |
| 7 | Team Configuration Jakobian |
| 9 | Manipulator Jakobian |
| 12 | Lagrange-Euler Dynamic Model |
| 14 | Mechanical Design of Robots |
Textbook or Material
| Resources | Introduction to Robotics: Mechanics and Control: International Edition, 3/E John J. Craig, Adept Technology, Inc. |
Evaluation Method and Passing Criteria
| In-Term Studies | Quantity | Percentage |
|---|---|---|
| Attendance | - | - |
| Laboratory | - | - |
| Practice | - | - |
| Field Study | - | - |
| Course Specific Internship (If Any) | - | - |
| Homework | - | - |
| Presentation | - | - |
| Projects | - | - |
| Seminar | - | - |
| Quiz | - | - |
| Listening | - | - |
| Midterms | - | - |
| Final Exam | - | - |
| Total | 0 (%) | |
ECTS / Working Load Table
| Quantity | Duration | Total Work Load | |
|---|---|---|---|
| Course Week Number and Time | 0 | 0 | 0 |
| Out-of-Class Study Time (Pre-study, Library, Reinforcement) | 0 | 0 | 0 |
| Midterms | 0 | 0 | 0 |
| Quiz | 0 | 0 | 0 |
| Homework | 0 | 0 | 0 |
| Practice | 0 | 0 | 0 |
| Laboratory | 0 | 0 | 0 |
| Project | 0 | 0 | 0 |
| Workshop | 0 | 0 | 0 |
| Presentation/Seminar Preparation | 0 | 0 | 0 |
| Fieldwork | 0 | 0 | 0 |
| Final Exam | 0 | 0 | 0 |
| Other | 0 | 0 | 0 |
| Total Work Load: | 0 | ||
| Total Work Load / 30 | 0 | ||
| Course ECTS Credits: | 0 | ||