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    MCE 411 | Ders Tanıtım Bilgileri

    Dersin Adı
    Introduction to Robotics
    Kodu
    Yarıyıl
    Teori
    (saat/hafta)
    Uygulama/Lab
    (saat/hafta)
    Yerel Kredi
    AKTS
    MCE 411
    FALL
    2
    2
    3
    6

    Ön-Koşul(lar) MCE 310 To suceed (To get a grade of at least DD) or EEE 411 To suceed (To get a grade of at least DD) or ME 309 To suceed (To get a grade of at least DD) or EEE 346 To suceed (To get a grade of at least DD)
    Dersin Dili English
    Dersin Türü ELECTIVE_COURSE
    Dersin Düzeyi Lisans
    Dersin Veriliş Şekli Face-to-face
    Dersin Öğretim Yöntem ve Teknikleri Problem Solving
    Q&A
    Simulation
    Application: Experiment / Laboratory / Workshop
    Lecture / Presentation
    Ulusal Meslek Sınıflandırma Kodu -
    Dersin Koordinatörü
    • Prof. Dr. Şeniz Ertuğrul
    Öğretim Eleman(lar)ı
    • Prof. Dr. Şeniz Ertuğrul
    Yardımcı(ları)
    • Araş. Gör. Alperen Keser
    Dersin Amacı With this course, students will have basic knowledge on fundamental concepts of robotics including kinematics, statistics, dynamics and control principles of robot manipulators.
    Öğrenme Çıktıları Bu dersi başarıyla tamamlayabilen öğrenciler;
    Ad Açıklama PC Alt * Katkı Düzeyi
    1 2 3 4 5
    LO1 Explain the fundamental definitions and consepts in robotics. 1.5 X
    LO2 Calculate the forward and inverse kinematics of a robot. 1.4 X
    LO3 Employ motion planning for different velocity profiles. 1.4 X
    LO4 Explain fundamental definitions in robot dynamics. 1.5 X
    LO5 Describe general methods for controlling the motion of robot manipulators. 2 X
    Ders Tanımı Provides basic knowledge on fundamentals of robotics such that the robot kinematics, robot statics, robot dynamics, robot motion and control principles.
    Dersin İlişkili Olduğu Sürdürülebilir Kalkınma Amaçları
    Sustainable Cities and Communities

     



    Dersin Kategorisi

    Temel Ders
    Uzmanlık/Alan Dersleri
    X
    Destek Dersleri
    İletişim ve Yönetim Becerileri Dersleri
    Aktarılabilir Beceri Dersleri

     

    HAFTALIK KONULAR VE İLGİLİ ÖN HAZIRLIK ÇALIŞMALARI

    Hafta Konular Ön Hazırlık Öğrenme Çıktısı
    1 Introduction to robotics, basic definitions and concept Robot Modeling and Control, Mark W. Spong, Seth Hutchinson, and M. Vidyasagar (Chapter 1) LO1
    2 Special matrix forms used in robot kinematics Robot Modeling and Control, Mark W. Spong, Seth Hutchinson, and M. Vidyasagar (Chapter 2) LO1
    3 Basic rotation matrices Robot Modeling and Control, Mark W. Spong, Seth Hutchinson, and M. Vidyasagar (Chapter 2) LO2
    4 Euler angles and homogeneous transformation matrices Robot Modeling and Control, Mark W. Spong, Seth Hutchinson, and M. Vidyasagar (Chapter 2) LO2
    5 Assignment of coordinates and link frames using Denavit-Hartenberg method Robot Modeling and Control, Mark W. Spong, Seth Hutchinson, and M. Vidyasagar (Chapter 3) LO2
    6 Determination of Denavit-Hartenberg parameters and solving forward kinematics Robot Modeling and Control, Mark W. Spong, Seth Hutchinson, and M. Vidyasagar (Chapter 3) LO2
    7 Determination of Denavit-Hartenberg parameters and solving forward kinematics Robot Modeling and Control, Mark W. Spong, Seth Hutchinson, and M. Vidyasagar (Chapter 3) LO2
    8 Midterm exam -
    9 Robot inverse kinematics Robot Modeling and Control, Mark W. Spong, Seth Hutchinson, and M. Vidyasagar (Chapter 3) LO2
    10 Robot inverse kinematics Robot Modeling and Control, Mark W. Spong, Seth Hutchinson, and M. Vidyasagar (Chapter 3) LO2
    11 Robot Velocity Kinematics and Jacobian matrix Robot Modeling and Control, Mark W. Spong, Seth Hutchinson, and M. Vidyasagar (Chapter 3) LO2
    12 Trajectory planning for different velocity profiles Robot Modeling and Control, Mark W. Spong, Seth Hutchinson, and M. Vidyasagar (Chapter 4) LO3
    13 Robot forward dynamic equations Introduction to Robotics: Mechanics and Control, J. J. Craig (Chapter 7) LO4
    14 Control Methods of Robot Manipulators Robot Modeling and Control, Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, (Chapter 6) LO5
    15 Review of the semester -
    16 Final exam -

     

    Ders Kitabı Robot Modeling and Control Mark W. Spong Seth Hutchinson and M. Vidyasagar
    Introduction to Robotics: Mechanics and Control J. J. Craig 3rd Edt. Pearson Prentice Hall 2005 ISBN:0-13-123629
    Robotics Modelling Planning and Control Bruno Siciliano Lorenzo Sciavicco Luigi Villani Giuseppe Oriolo Springer John Wiley & Sons.
    Önerilen Okumalar/Materyaller Robot Manipulators: Mathematics Programming and Control R.P. Paul The MIT Press 1981
    Linear Algebra Done Right Sheldon Axler 4th Edition Springer

     

    DEĞERLENDİRME ÖLÇÜTLERİ

    Yarıyıl Aktiviteleri Sayı Katkı Payı % LO1 LO2 LO3 LO4 LO5
    Laboratuvar / Uygulama 5 20 X X X X
    Proje 1 10 X
    Ara Sınav 1 30 X X
    Final Sınavı 1 40 X X X X X
    Toplam 8 100

     

    AKTS / İŞ YÜKÜ TABLOSU

    Yarıyıl Aktiviteleri Sayı Süre (Saat) İş Yükü
    Katılım - - -
    Teorik Ders Saati 16 2 32
    Laboratuvar / Uygulama Ders Saati 16 2 32
    Sınıf Dışı Ders Çalışması 16 4 64
    Arazi Çalışması - - -
    Küçük Sınav / Stüdyo Kritiği - - -
    Portfolyo - - -
    Ödev - - -
    Sunum / Jüri Önünde Sunum - - -
    Proje 1 20 20
    Seminer/Çalıştay - - -
    Sözlü Sınav - - -
    Ara Sınavlar 1 12 12
    Final Sınavı 1 20 20
        Toplam 180

     

    DERSİN ÖĞRENME ÇIKTILARININ PROGRAM YETERLİLİKLERİ İLE İLİŞKİSİ

    # PC Alt Program Yeterlilikleri / Çıktıları * Katkı Düzeyi
    1 2 3 4 5
    1

    Engineering Knowledge: Knowledge of mathematics, science, basic engineering, computation, and related engineering discipline-specific topics; the ability to apply this knowledge to solve complex engineering problems.

    1

    Mathematics

    2

    Science

    3

    Basic Engineering

    4

    Computation

    LO3 LO2
    5

    related engineering discipline-specific topics

    LO4 LO1
    6

    the ability to apply this knowledge to solve complex engineering problems.

    2

    Problem Analysis: Ability to identify, formulate and analyze complex engineering problems using basic knowledge of science, mathematics and engineering, and considering the UN Sustainable Development Goals relevant to the problem being addressed.

    LO5
    3

    Engineering Design: The ability to devise creative solutions to complex engineering problems; the ability to design complex systems, processes, devices or products to meet current and future needs, considering realistic constraints and conditions.

    1

    Ability to design creative solutions to complex engineering problems.

    2

    Ability to design complex systems, processes, devices or products to meet current and future needs, considering realistic constraints and conditions.

    4

    Use of Techniques and Tools: Ability to select and use appropriate tectıniques, resources, and modern engineering and computing tools. including estimation and modeling. far the analysis and solution of complex engineering problems while recognizing their limitations.

    5

    Research and ınvestigation: Ability to use research methods ta investigate complex engineering problems, including literature research, designing and conducting experiments, collecting data, and analyzing and interpreting results.

    1

    Literature research far the study of complex engineering problems

    2

    Designing experiments

    3

    Ability to use research methods, including conducting experiments, collecting data. analyzing and interpreting results

    6

    Global lmpact of Engineering Practices: Knowledge of the impacts of engineering practices on s.ociety, health and safety. ttıe economy, sustainability and the environment \ıVlthin the context of the UN Sustainable Development GoaJs; awareness of the legal implications of engineering solutions.

    1

    Knowledge of ttıe impacts of engineering practices on society, health and safety, economy, su.stainability and the environment, within the context of the UN Sustainable Development Goals.

    2

    Awareness of the legal implications of engineering solutions

    7

    Ethical Behavlor: Acting in accordance with the principles of the engineering profession. knowledge about ethical ,esponsibility; awareness of being impartial. without discrimination, and being inclusive of diversity.

    1

    Acting in accordance with engineering professional principles. information about ethical responsibility

    2

    Awareness of being impartial and indusive of diversity, without disaiminating on any subject.

    8

    lndividual and Teamwork: Ability to work effectively individually and as a team member or leader on interdis.ciplinary and multidisciplinary teams (face-to-face, remote or hybrid).

    1

    lndividually and within the discipline

    2

    Ability to work effectivefy as a team member or leader in mutti-disciplinary teams (face-to-face, remote or hybrid)

    9

    Verbal and Written Communication: Taking into account the various differences of the target audience (such as education, language, profession) on technical issues.

    1

    Verbal

    2

    Ability to communicate effectively in writing.

    10

    Project Management: Knowledge of business practices such as project management and economic feasibility analysis; awareness of entrepreneurship and innovation.

    1

    Knowledge of business practices such as project management and economic feasibility analysis;

    2

    Awareness of entrepreneurship and innovation.

    11

    Lifelong Learning: Lifelong learning skills that include being able to learn independently and continuously, adapting to new and developing technologies. and thinking questioningly about tedınological changes

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


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