FACULTY OF ENGINEERING
Department of Mechanical 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 |
|
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Course Language |
English
|
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Course Type |
Elective
|
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Course Level |
First Cycle
|
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Mode of Delivery | - | |||||||||||
Teaching Methods and Techniques of the Course | Problem SolvingQ&ASimulationApplication: Experiment / Laboratory / WorkshopLecture / 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;
|
Course Description | Provides basic knowledge on fundamentals of robotics such that robot kinematics, robot statics, robot dynamics, robot motion and control principles. |
|
Core Courses | |
Major Area Courses | ||
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 adequate knowledge in Mathematics, Mathematics based physics, statistics and linear algebra and Mechanical Engineering; to be able to use theoretical and applied information in these areas on complex engineering problems. |
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2 | To be able to identify, define, formulate, and solve complex Mechanical Engineering problems; to be able to select and apply proper analysis and modeling methods for this purpose. |
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3 | To be able to design a thermal and mechanical system, process, device or product under realistic constraints and conditions, in such a way as to meet the requirements; to be able to apply modern design methods for this purpose. |
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4 | To be able to devise, select, and use modern techniques and tools needed for analysis and solution of complex problems in engineering applications. |
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5 | To be able to design and conduct experiments, gather data, analyze and interpret results for investigating complex engineering problems or Mechanical Engineering research topics. |
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6 | To be able to work efficiently in Mechanical Engineering disciplinary and multi-disciplinary teams; to be able to work individually. |
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7 | To be able to communicate effectively in Turkish, both orally and in writing; 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. |
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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. |
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9 | To be aware of ethical behavior, professional and ethical responsibility; to have knowledge about standards utilized in engineering applications. |
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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. |
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11 | To be able to collect data in the area of Mechanical Engineering, and to be able to communicate with colleagues in a foreign language. |
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12 | To be able to speak a second foreign language at a medium level of fluency efficiently. |
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13 | To recognize the need for lifelong learning; to be able to access information, to be able to stay current with developments in science and technology; to be able to relate the knowledge accumulated throughout the human history to Mechanical Engineering. |
*1 Lowest, 2 Low, 3 Average, 4 High, 5 Highest