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ENGINEERING FACULTY / MECHANICAL ENGINEERING / MAK4011 - INTRODUCTION TO ROBOTICS
GENERAL INFORMATION ABOUT THE COURSE
Course Code
Semester
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Course Title
Theoretical
Practical
ECTS
Turkish Name of the Course
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Course Objective
The goal of this course is to provide a unified introduction to the area of robotics for advanced undergraduates and beginning graduate students. This course provides a broad exposure to the subject. A key aspect of the course is Biorobotics, which includes biological analogies of robotic systems, teleoperation, and medical applications of robotics.
Brief Content of the Course
An introduction to the kinematics, dynamics and control of robot manipulators, robotic vision, sensing and the programming of robots; teleoperation. The course will cover forward and inverse kinematics of serial chain manipulators. The manipulator Jacobian, force relations, dynamics and control-position and force control. Trajectory generation, collision avoidance, automatic planning of fine and gross motion strategies; robot programming languages. Proximity, tactile and force sensing. Network modeling, stability, and fidelity in teleoperation. Biological analogies and medical applications of robotics.
Prerequisites
None
Course Objectives
Course Objectives
1
Identify the basic components of a mechanical robot arm.
2
Defining points, planes and coordinate frames.
3
Defining position and orientation transformations.
4
Defining joint coordinate frames in a multi-joint robot.
5
Defining kinematic parameters for a robot.
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Course Category
Course Category
Percentage
Mathematics and Basic Sciences
Basic Vocational Courses
Expertise /Field Courses