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| ELK4044 | @ | 2+0+0 | ECTS:5 | | Year / Semester | Spring Semester | | Level of Course | First Cycle | | Status | Elective | | Department | DEPARTMENT of ELECTRICAL and ELECTRONICS ENGINEERING | | Prerequisites and co-requisites | None | | Mode of Delivery | | | Contact Hours | 14 weeks - 2 hours of lectures per week | | Lecturer | Dr. Öğr. Üyesi Emrah BENLİ | | Co-Lecturer | Asst. Prof. Oğuzhan Çakır | | Language of instruction | Turkish | | Professional practise ( internship ) | None | | | | The aim of the course: | | Analysis of robot manipulator systems. Common robot structural designs. Emphasis is on kinematics of rigid-link robots. Analysis of cutting edge technology in robotics. |
| Learning Outcomes | CTPO | TOA | | Upon successful completion of the course, the students will be able to : | | | | LO - 1 : | Have sufficient knowledge on the history of robotics technology with the definitions and key concepts. | 1.2 - 2.1 - 2.2 | 1, | | LO - 2 : | Have sufficient information for analysis on Forward Kinematics: Homogeneous Transformations and The Denavit-Hartenberg Algorithm. | 1.2 - 2.1 - 2.2 | 1, | | LO - 3 : | Have sufficient information for analysis on Inverse Kinematics: Geometric Techniques and Analytical Techniques. | 1.2 - 2.1 - 2.2 | 1, | | LO - 4 : | Have sufficient knowledge on Velocity Kinematics: Manipulator Jacobian, Application to inverse kinematics/singularity analysis, Jacobian computation, Statics. | 1.2 - 2.1 - 2.2 | 1, | | CTPO : Contribution to programme outcomes, TOA :Type of assessment (1: written exam, 2: Oral exam, 3: Homework assignment, 4: Laboratory exercise/exam, 5: Seminar / presentation, 6: Term paper), LO : Learning Outcome | | |
| Introduction to brief history of robots. Introduction to the robotics technology. Analysis of kinematics: forward, inverse, and velocity (Jacobian). Analysis of cutting edge robot technology and recent studies. |
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| Course Syllabus | | Week | Subject | Related Notes / Files | | Week 1 | The history of robotics technology with the definitions and key concepts | | | Week 2 | Common robot structural designs | | | Week 3 | Forward Kinematics | | | Week 4 | Forward Kinematics | | | Week 5 | Forward Kinematics | | | Week 6 | Inverse Kinematics | | | Week 7 | Inverse Kinematics | | | Week 8 | Inverse Kinematics | | | Week 9 | Mid-term exam | | | Week 10 | Velocity Kinematics | | | Week 11 | Velocity Kinematics | | | Week 12 | Velocity Kinematics | | | Week 13 | Analysis of cutting edge robot technology and recent studies | | | Week 14 | Analysis of cutting edge robot technology and recent studies | | | Week 15 | Analysis of cutting edge robot technology and recent studies | | | Week 16 | End-of-term exam | | | |
| 1 | Presentation and classnotes | | | 2 | Robot Modeling and Control, M. Spong, S. Hutchinson, and M. Vidyasagar, Wiley | | | |
| Method of Assessment | | Type of assessment | Week No | Date | Duration (hours) | Weight (%) | | | | | | | | |
| Student Work Load and its Distribution | | Type of work | Duration (hours pw) | No of weeks / Number of activity | Hours in total per term | | Yüz yüze eğitim | 2 | 14 | 28 | | Sınıf dışı çalışma | 1 | 14 | 14 | | Arasınav için hazırlık | 10 | 1 | 10 | | Arasınav | 1 | 2 | 2 | | Dönem sonu sınavı için hazırlık | 10 | 1 | 10 | | Dönem sonu sınavı | 1 | 2 | 2 | | Total work load | | | 66 |
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