In lecture of Robotics, methods and procedures are introduced that make the navigation possible in partly known, partly unknown environment. Aspects of this lecture are driving kinematics, sensor and sensor processing systems, collision avoidance and simple route planning, map creation and control architectures for autonomous robotic systems.
Prerequisite(s)
-
Corequisite(s)
-
Special Requisite(s)
-
Instructor(s)
Assoc. Prof. Kadir Erkan
Course Assistant(s)
-
Schedule
-
Office Hour(s)
-
Teaching Methods and Techniques
The candidate should after this cource know different applications of robotic systems, be able to describe mechanical robotic structures and systems. They should also be familiar with the matematics involved and be able to do path generation and control of simple robotic systems.
Principle Sources
Saaed B. Niku (2001), Intorduction to Robotics: Analysis, System, Applications, Prentice Hall
David Cook (2011), Robot Building for Beginners, APress 2nd Edition
John David Warren (2010), Ardunio Robotics, APress 1st Edition
Other Sources
-
Course Schedules
Week
Contents
Learning Methods
1. Week
Introduction
2. Week
Robotic Systems
3. Week
Robotic System Problems
4. Week
Coordinate Transmission
5. Week
Coordinate Transmission
6. Week
Link Cooardinate
7. Week
The Arm Equation
8. Week
Forward Kinematics
9. Week
Midterm
10. Week
Inverse Kinematics
11. Week
Jacobian Manipulators
12. Week
Manipulator Dynamics
13. Week
Euler Dynamic Model
14. Week
Euler Dynamic Model
15. Week
Mechanic Design
16. Week
Mechanic Design
17. Week
Final Exam
Assessments
Evaluation tools
Quantity
Weight(%)
Midterm(s)
1
30
Project(s)
1
30
Final Exam
1
40
Program Outcomes
PO-1
Adequate knowledge in mathematics, science and engineering subjects pertaining to the relevant discipline; ability to use theoretical and applied information in these areas to model and solve engineering problems.
PO-2
Ability to identify, formulate, and solve complex engineering problems; ability to select and apply proper analysis and modelling methods for this purpose.
PO-3
Ability to design a complex system, process, device or product under realistic constraints and conditions, in such a way so as to meet the desired result; ability to apply modern design methods for this purpose. (Realistic constraints and conditions may include factors such as economic and environmental issues, sustainability, manufacturability, ethics, health, safety issues, and social and political issues according to the nature of the design.)
PO-4
Ability to devise, select, and use modern techniques and tools needed for engineering practice; ability to employ information technologies effectively.
PO-5
Ability to design and conduct experiments, gather data, analyse and interpret results for investigating engineering problems.
PO-6
Ability to work efficiently in intra-disciplinary and multi-disciplinary teams; ability to work individually.
PO-7
Ability to communicate effectively, both orally and in writing; knowledge of a minimum of one foreign language.
PO-8
Recognition of the need for lifelong learning; ability to access information, to follow developments in science and technology, and to continue to educate him/herself.
PO-9
Awareness of professional and ethical responsibility.
PO-10
Information about business life practices such as project management, risk management, and change management; awareness of entrepreneurship, innovation, and sustainable development.
PO-11
Knowledge about contemporary issues and the global and societal effects of engineering practices on health, environment, and safety; awareness of the legal consequences of engineering solutions.
Learning Outcomes
LO-1
Students shall be able to test the dataflow to interface via sensors.
LO-2
Students shall be able to design embedded systems using sensors.
LO-3
Students gain knowledge about robot mechanism control.
LO-4
Students shall learn how to design a robot system schematic.
LO-5
Students shall learn robotic localization and mapping algorithms.
LO-6
Students shall practice integrated robotic development platforms and tools.
