Electrical and Electronics Engineering
Course Details
KTO KARATAY UNIVERSITY
Mühendislik ve Doğa Bilimleri Fakültesi
Programme of Electrical and Electronics Engineering
Course Details
Mühendislik ve Doğa Bilimleri Fakültesi
Programme of Electrical and Electronics Engineering
Course Details
| Course Code | Course Name | Year | Period | Semester | T+A+L | Credit | ECTS |
|---|---|---|---|---|---|---|---|
| 05560002 | Robotics | 3 | Spring | 6 | 2+1+0 | 5 | 5 |
| Course Type | Compulsory |
| Course Cycle | Bachelor's (First Cycle) (TQF-HE: Level 6 / QF-EHEA: Level 1 / EQF-LLL: Level 6) |
| Course Language | Turkish |
| Methods and Techniques | Anlatım, Proje |
| Mode of Delivery | Face to Face |
| Prerequisites | Dersin ön koşulu bulunmamaktadır. |
| Coordinator | - |
| Instructor(s) | Asst. Prof. Hüseyin ALP |
| Instructor Assistant(s) | Res. Asst. Sinan İLGEN |
Course Instructor(s)
| Name and Surname | Room | E-Mail Address | Internal | Meeting Hours |
|---|---|---|---|---|
| Asst. Prof. Hüseyin ALP | - | [email protected] |
Course Content
Robotic arms. Direct kinematics and arm equations. Inverse kinematics. Modelling of robot dynamics, trajectory planning, interpolation methods. Algorithms for controlling coordinates of robot joints. Arm dynamics. Robotics control. Servosystems (position, velocity, torque and force).
Objectives of the Course
This course presents the fundamentals of the modeling and control techniques of serial manipulators. Topics include robot architectures, geometric modeling, kinematic modeling, dynamic modeling and its applications, as well as the classical PID controller and computed torque controller
Contribution of the Course to Field Teaching
| Basic Vocational Courses | |
| Specialization / Field Courses | X |
| Support Courses | |
| Transferable Skills Courses | |
| Humanities, Communication and Management Skills Courses |
Weekly Detailed Course Contents
| Week | Topics |
|---|---|
| 1 | Introduction |
| 2 | Robotics, industrial robots |
| 3 | Robotics, industrial robots |
| 4 | Robotics arms. |
| 5 | Kinematics: position and orientation of a rigid body, rotation matrix, angle and axis, calibration |
| 6 | Kinematics: position and orientation of a rigid body, rotation matrix, angle and axis, calibration |
| 7 | Direct kinematics and arm equations. Inverse kinematics. |
| 8 | Modeling of robot dynamics, trajectory planning, interpolation methods. |
| 9 | Modeling of robot dynamics, trajectory planning, interpolation methods. |
| 10 | Algorithms for control of coordinates of robot joints. |
| 11 | Algorithms for control of coordinates of robot joints. |
| 12 | Arm dynamics. Robotics control |
| 13 | Arm dynamics. Robotics control |
| 14 | Servosystems (position, speed, torque and force). |
Textbook or Material
| Resources | L. Sciavicco, B. Siciliano, Modelling and Control of Robot Manipulators, Springer, (2000) |
Evaluation Method and Passing Criteria
| In-Term Studies | Quantity | Percentage |
|---|---|---|
| Attendance | - | - |
| Laboratory | - | - |
| Practice | - | - |
| Homework | - | - |
| Presentation | - | - |
| Projects | 1 | 35 (%) |
| Quiz | - | - |
| Listening | - | - |
| Midterms | 1 | 30 (%) |
| Final Exam | 1 | 35 (%) |
| Total | 100 (%) | |
ECTS / Working Load Table
| Quantity | Duration | Total Work Load | |
|---|---|---|---|
| Course Week Number and Time | 14 | 3 | 42 |
| Out-of-Class Study Time (Pre-study, Library, Reinforcement) | 14 | 3 | 42 |
| Midterms | 1 | 10 | 10 |
| Quiz | 0 | 0 | 0 |
| Homework | 0 | 0 | 0 |
| Practice | 0 | 0 | 0 |
| Laboratory | 0 | 0 | 0 |
| Project | 1 | 15 | 15 |
| Workshop | 0 | 0 | 0 |
| Presentation/Seminar Preparation | 1 | 10 | 10 |
| Fieldwork | 0 | 0 | 0 |
| Final Exam | 1 | 20 | 20 |
| Other | 0 | 0 | 0 |
| Total Work Load: | 139 | ||
| Total Work Load / 30 | 4,63 | ||
| Course ECTS Credits: | 5 | ||