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| MM4015 | Robot and Its Kinematics | 3+0+0 | ECTS:6 | | Year / Semester | Fall Semester | | Level of Course | First Cycle | | Status | Elective | | Department | DEPARTMENT of MECHANICAL ENGINEERING | | Prerequisites and co-requisites | None | | Mode of Delivery | | | Contact Hours | 14 weeks - 3 hours of lectures per week | | Lecturer | Dr. Öğr. Üyesi Caner SANCAK | | Co-Lecturer | - | | Language of instruction | Turkish | | Professional practise ( internship ) | None | | | | The aim of the course: | | Presentation of robot kinematics and control strategy using pic and plc programming techniques, Investigate actuators and sensors systems. Develop solutions for forward kinematics problems. |
| Learning Outcomes | CTPO | TOA | | Upon successful completion of the course, the students will be able to : | | | | LO - 1 : | Utilize the principles of geometry to derive models for the forward and inverse kinematics of a manipulator. | 1,3 | 1,6, | | LO - 2 : | Understand the dynamics of a manipulator. | 1,3 | 1,6 | | LO - 3 : | Implement several simple robot control laws for robots. | 1,3 | 1,6 | | LO - 4 : | Understand micro-controller programming techniques. | 1,3 | 6, | | LO - 5 : | Gain the ability to perform velocity analysis and motion planning in robots. | 1,3 | 1,6, | | 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 | | |
| Kinematic structure of robot arms, classification of manipulators, robot arm drivers, and sensor elements. Rotation matrix and homogeneous transformation, creation of rotation matrix. Forward kinematic solutions of robots, Denavit-Hartenberg representation, inverse kinematic solutions, velocity analysis. and movement planning. Micro-controller programming and application for robot control. |
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| Course Syllabus | | Week | Subject | Related Notes / Files | | Week 1 | Introduction and Historic
| | | Week 2 | Manipulator kinematic structures
| | | Week 3 | Classification of robot manipulator
| | | Week 4 | Rotation matrices, Composition of Rotations and Homogeneous transformations
| | | Week 5 | Rotation matrices, Composition of Rotations and Homogeneous transformations (continue)
| | | Week 6 | Forward kinematics of serial robots ve Denavit-Hartenberg representation
| | | Week 7 | Denavit-Hartenberg representation (continue)
| | | Week 8 | Workspace of robots | | | Week 9 | Mid-term exam
| | | Week 10 | Robot sensory systems
| | | Week 11 | Microcontroller programming and automation
| | | Week 12 | Microcontroller programming and automation (continue)
| | | Week 13 | Inverse kinematics of serial robots
| | | Week 14 | Derivation of Jacobian matrix of robots
| | | Week 15 | Motion planning methods for robots
| | | Week 16 | End-of-term exam | | | |
| 1 | Spong M.W., Vıdyasagar M., 1989, Robot Dynamics and Control, John Wiley and Sons, Inc., USA | | | 2 | Z. Bingül, S. Küçük, Robot Kinematiği, Birsen Yayınevi, 2009. | | | |
| 1 | Wolovich W.A.,1987, ROBOTICS: Basic Analysis and Design, CBS College Publishing, USA | | | 2 | Arvas M. A.., 2019, Projeler Eşliğinde Arduino ile Robotik Programlama Sensörler ? Veri İletişimi ? Wifi, Bluetooth, IR, Seçkin Yayıncılık., İstanbul | | | 3 | Çetinkaya K., 2003, PLC Kullanım ve Programlama, Özdisan A.Ş., İstanbul | | | |
| Method of Assessment | | Type of assessment | Week No | Date | Duration (hours) | Weight (%) | | Mid-term exam | 9 | 28/11/2023 | 1,5 | 25 | | Project | 14 | 08/01/2024 | 10 | 25 | | End-of-term exam | 16 | 15/01/2024 | 1,5 | 50 | | |
| 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 | 3 | 14 | 42 | | Sınıf dışı çalışma | 1 | 7 | 7 | | Laboratuar çalışması | 1 | 12 | 12 | | Arasınav için hazırlık | 1 | 8 | 8 | | Arasınav | 1 | 1 | 1 | | Proje | 1 | 10 | 10 | | Dönem sonu sınavı için hazırlık | 1 | 6 | 6 | | Dönem sonu sınavı | 2 | 2 | 4 | | Total work load | | | 90 |
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