FACULTY OF ENGINEERING

Department of Mechatronics Engineering

MCE 411 | Course Introduction and Application Information

Course Name
Introduction to Robotics
Code
Semester
Theory
(hour/week)
Application/Lab
(hour/week)
Local Credits
ECTS
MCE 411
Fall/Spring
3
2
4
6

Prerequisites
  MCE 310 To succeed (To get a grade of at least DD)
or ME 401 To succeed (To get a grade of at least DD)
or EEE 411 To succeed (To get a grade of at least DD)
Course Language
English
Course Type
Elective
Course Level
First Cycle
Mode of Delivery -
Teaching Methods and Techniques of the Course Problem Solving
Q&A
Simulation
Application: Experiment / Laboratory / Workshop
Lecture / Presentation
Course Coordinator
Course Lecturer(s)
Assistant(s) -
Course Objectives With this course, students will have basic knowledge on fundamental concepts of robotics including kinematics, statics, dynamics and control principles of robot manipulators.
Learning Outcomes The students who succeeded in this course;
  • explain fundamentals of robotics
  • explain degrees of freedom
  • describe different coordinate frames of robot manipulators
  • analyse dynamic equations of robot manipulators
  • describe general methods in controlling the motion of robot manipulators
Course Description Provides basic knowledge on fundamentals of robotics such that robot kinematics, robot statics, robot dynamics, robot motion and control principles.

 



Course Category

Core Courses
Major Area Courses
X
Supportive Courses
Media and Management Skills Courses
Transferable Skill Courses

 

WEEKLY SUBJECTS AND RELATED PREPARATION STUDIES

Week Subjects Related Preparation
1 Introduction Robotics Modelling, Planning and Control, B.Siciliano, (Chapter 1)
2 Spatial descriptions and transformations Robotics Modelling, Planning and Control, B.Siciliano, (Chapter 2)
3 Manipulator kinematics Robotics Modelling, Planning and Control, B.Siciliano, (Chapter 2)
4 Inverse manipulator kinematics Robotics Modelling, Planning and Control, B.Siciliano, (Chapter 2)
5 Jacobians: velocities and static forces Robotics Modelling, Planning and Control, B.Siciliano, (Chapter 3)
6 Manipulator dynamics Robotics Modelling, Planning and Control, B.Siciliano, (Chapter 4)
7 Trajectory generation Robotics Modelling, Planning and Control, B.Siciliano, (Chapter 7)
8 Midterm Exam
9 Manipulator-mechanism design Robotics Modelling, Planning and Control, B.Siciliano, (Chapter 5)
10 Linear control of manipulators Robotics Modelling, Planning and Control, B.Siciliano, (Chapter 8)
11 Nonlinear control of manipulators Robotics Modelling, Planning and Control, B.Siciliano, (Chapter 8)
12 Force control of manipulators Robotics Modelling, Planning and Control, B.Siciliano, (Chapter 8)
13 Robot programming languages and systems Robotics Modelling, Planning and Control, B.Siciliano, (Chapter 6)
14 Off-line programming systems Robotics Modelling, Planning and Control, B.Siciliano, (Chapter 6)
15 Review of the semester
16 Final Exam

 

Course Notes/Textbooks

Robotics Modelling, Planning and Control, B.Siciliano, L. Sciavicco, L. Villani, G. Oriolo, ISSN 1439-2232, Springer-Verlag London Limited 2010

Suggested Readings/Materials Robot Manipulators: Mathematics, Programming, and Control, R. P. Paul, The MIT Press, 1981.

 

EVALUATION SYSTEM

Semester Activities Number Weigthing
Participation
Laboratory / Application
1
20
Field Work
Quizzes / Studio Critiques
Portfolio
Homework / Assignments
Presentation / Jury
Project
1
10
Seminar / Workshop
Oral Exams
Midterm
1
30
Final Exam
1
40
Total

Weighting of Semester Activities on the Final Grade
3
60
Weighting of End-of-Semester Activities on the Final Grade
1
40
Total

ECTS / WORKLOAD TABLE

Semester Activities Number Duration (Hours) Workload
Theoretical Course Hours
(Including exam week: 16 x total hours)
16
3
48
Laboratory / Application Hours
(Including exam week: '.16.' x total hours)
16
2
32
Study Hours Out of Class
16
4
64
Field Work
0
Quizzes / Studio Critiques
0
Portfolio
0
Homework / Assignments
0
Presentation / Jury
0
Project
1
10
10
Seminar / Workshop
0
Oral Exam
0
Midterms
1
10
10
Final Exam
1
16
16
    Total
180

 

COURSE LEARNING OUTCOMES AND PROGRAM QUALIFICATIONS RELATIONSHIP

#
Program Competencies/Outcomes
* Contribution Level
1
2
3
4
5
1

To have knowledge in Mathematics, science, physics knowledge based on mathematics; mathematics with multiple variables, differential equations, statistics, optimization and linear algebra; to be able to use theoretical and applied knowledge in complex engineering problems

2

To be able to identify, define, formulate, and solve complex mechatronics engineering problems; to be able to select and apply appropriate analysis and modeling methods for this purpose.

X
3

To be able to design a complex electromechanical system, process, device or product with sensor, actuator, control, hardware, and software to meet specific requirements under realistic constraints and conditions; to be able to apply modern design methods for this purpose.

X
4

To be able to develop, select and use modern techniques and tools necessary for the analysis and solution of complex problems encountered in Mechatronics Engineering applications; to be able to use information technologies effectively.

X
5

To be able to design, conduct experiments, collect data, analyze and interpret results for investigating Mechatronics Engineering problems.

6

To be able to work effectively in Mechatronics Engineering disciplinary and multidisciplinary teams; to be able to work individually.

7

To be able to communicate effectively in Turkish, both in oral and written forms; to be able to author and comprehend written reports, to be able to prepare design and implementation reports, to present effectively, to be able to give and receive clear and comprehensible instructions.

8

To have knowledge about global and social impact of engineering practices on health, environment, and safety; to have knowledge about contemporary issues as they pertain to engineering; to be aware of the legal ramifications of engineering solutions.

9

To be aware of ethical behavior, professional and ethical responsibility; information on standards used in engineering applications.

10

To have knowledge about industrial practices such as project management, risk management and change management; to have awareness of entrepreneurship and innovation; to have knowledge about sustainable development.

11

Using a foreign language, he collects information about Mechatronics Engineering and communicates with his colleagues. ("European Language Portfolio Global Scale", Level B1)

12

To be able to use the second foreign language at intermediate level.

13

To recognize the need for lifelong learning; to be able to access information; to be able to follow developments in science and technology; to be able to relate the knowledge accumulated throughout the human history to Mechatronics Engineering.

*1 Lowest, 2 Low, 3 Average, 4 High, 5 Highest

 


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