Course Outlines and Prerequisites

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EE584 - Advanced Robotic Systems

  • Instructor:
  • Course Web Page: EE584 - Advanced Robotic Systems
  • COURSE INFORMATON

    Course Title

    Code

    Semester

    C +P + L  Hour

    Credits

    ECTS

    Advanced Robotic Systems

    EE 584

    Fall

    3+0+0

    3

    7

     

    Prerequisites

    EE 384

     

    Language of Instruction

    English

    Course Level

    Graduate

    Course Type

    Elective

    Course Coordinator

    Assoc. Prof. Dr. Duygun Erol Barkana

    Instructors

    Assoc. Prof. Dr. Duygun Erol Barkana

    Assistants

    none

    Goals

    The course provides students with robotic basic definitions, the basic analysis of robot arms kinematics and dynamics and robot control

    Content

    Introduction, classification of robots, robot arms kinematic,Jacobian, robot arms dynamic, computation of kinematics and dynamics using Mathematica, trajectory planning, robot sensors, robot control, simulation of robot control in MATLAB

     

    Learning Outcomes

    Program Outcomes

    Teaching Methods

    Assessment Methods

    1) Ability to recognize, repeat and recall the mathematical foundations related to robotic systems,

    1

    1

    A,B,E

    2) Ability to model the robotic systems (kinematics, dynamics),

    2,11

    1,2,3

    A,E

    3) Ability to simulate robotic systems using software programs (MATLAB, Mathematica),

    1,4,6

    1,3

    A,B,E

    4) Ability to define the controller for robotic systems and evaluate the responses of these systems in time domain, 

    1,2,4,6,11

    1,3

    A,B,E

    5) Ability to define the electronic connections that satisfies the communication of robots with the environment.

    1,4

    1

    A

     

    Teaching Methods:

    1: Lecture,  2: Problem Solving,  3: Simulation,  4: Seminar,  5: Laboratory,

    6: Term Research Paper

    Assessment Methods:

    A: Exam, B: Quiz, C: Experiment, D: Homework, E: Project

     

     

    COURSE CONTENT

    Week

    Topics

    Study Materials

    1

    Introduction and Basic Definitions 

    Course Textbook

    2

    Classification of Robots

    Course Textbook

    3

    Robot Coordinate Frames and Transformations, Quiz 1

    Course Textbook

    4

    Robot Kinematics, Quiz 2

    Course Textbook

    5

    Midterm I

    Course Textbook

    6

    Jacobian

    Course Textbook

    7

    Robot Dynamics

    Course Textbook

    8

    Applications of Robot Dynamics

    Course Textbook

    9

    Computation of Kinematics and Dynamics Using Mathematica Program

    Mathematica Help (Web)

    10

    Trajectory Planning in Robots, Quiz 4

    Course Textbook

    11

    Robot Sensors

    Course Textbook

    12

    Robot Control

    Course Textbook

    13

    Simulation of Robot Control in MATLAB

    MATLAB Help (Web)

    14

    Final Project

    Course Textbook

     

    RECOMMENDED SOURCES

    Textbook

    Introduction to Robotics Mechanics and Control, John Craig, 3rd Edition, Prentice Hall

    Additional Resources

    Introduction to Robotics, Analysis, Systems and Applications, Saeed B. Niku, Prentice Hall, 2001

     

    MATERIAL SHARING

    Documents

    Publications related to the robotic and control systems, notes on the web.

    Exams

    Midterm exam questions and answers

    Quiz

    Quiz questions and answers

     

    ASSESSMENT

    IN-TERM STUDIES

    NUMBER

    PERCENTAGE

    Midterms

    1

    50

    Quiz

    4

    50

    Total


    100

    CONTRIBUTION OF FINAL EXAMINATION TO OVERALL GRADE (Project)

     1

    40

    CONTRIBUTION OF IN-TERM STUDIES TO OVERALL GRADE

     5

    60

    Total

     

    100

     

    COURSE CATEGORY

    Expertise/Field Courses

     

    COURSE'S CONTRIBUTION TO PROGRAM

    No

     Program Learning Outcomes

    Contribution

    1

    2

    3

    4

    5


    1

    Can reach information in breadth and depth, and can evaluate, interpret and apply this information to scientific research in the area of Electrical and Electronics Engineering.





    x


    2

    Can complete and apply information with scientific methods using limited or missing data; can integrate information from different disciplines.




    x



    3

    Sets up Electrical and Electronics Engineering problems, develops and implements innovative methods for their solutions.







    4

    Develops new and/or original ideas and methods; finds innovative solutions to the system, component, or process design.



    x




    5

    Has comprehensive knowledge about the state-of-the-art techniques and methods in Electrical and Electronics Engineering and their limitations.







    6

    Can design and conduct research of analytical, modeling or experimental orientation; can solve and interpret complex cases that come up during this process.




    x



    7

    Can communicate verbally and in writing in one foreign language (English) at the General Level B2 of the European Language Portfolio.







    8

    Can assume leadership in multi-disciplinary teams; can develop solutions in complex situations, and take responsibility.







    9

    Can systematically and openly communicate in national and international venues the proceedings and conclusions of the work he/she performs in Electrical and Electronics Engineering.







    10

    Respects social, scientific and ethical values in all professional activities performed during the collection, interpretation and announcement phases of data.







    11

    Is aware of new and emerging applications in Electrical and Electronics Engineering; investigates and learns them, whenever necessary.




    x



    12

    Can identify the social and environmental aspects of Electrical and Electronics Engineering applications.

     

     

     

     

     

     

     

    ECTS ALLOCATED BASED ON STUDENT WORKLOAD BY THE COURSE DESCRIPTION

    Activities

    Quantity

    Duration
    (Hour)

    Total
    Workload
    (Hour)

    Course Duration

    14

    3

    42

    Hours for off-the-classroom study (Pre-study, practice)

    10

    10

    100

    Mid-term

    1

    3

    3

    Quiz

    4

    3

    12

    Final Project

    1

    15

    15

    Total Work Load



    172

    Total Work Load / 25 (h)



    25

    ECTS Credit of the Course



    6,88

     

  • Syllabus
  • Course Outline:

    Introduction, classification of robots, robot arms kinematic,Jacobian, robot arms dynamic, computation of kinematics and dynamics using Mathematica, trajectory planning, robot sensors, robot control, simulation of robot control in MATLAB