COURSE INFORMATION
Course CodeCourse TitleL+P HourSemesterECTS
EEEN 324INTRODUCTION TO ROBOTIC SYSTEMS3 + 07th Semester5

COURSE DESCRIPTION
Course Level Bachelor's Degree
Course Type Elective
Course Objective This course aims to give the students the fundamental concepts of robotic manipulators. It covers robot kinematics and dynamics. The servo control of manipulators is also covered.
Course Content Understand the fundamental concepts of robotic manipulators / Derive kinematic equations for any given robotic manipulator / Derive manipulator dynamics for any given robot arm / Design a simple feedback controller for trajectory following of a manipulator / Design model based (computed torque) controller for a robotic manipulator.
Prerequisites No the prerequisite of lesson.
Corequisite No the corequisite of lesson.
Mode of Delivery Face to face

COURSE LEARNING OUTCOMES
1He/She can apply math, science and engineering knowledge.
2He/She can design a system, component or process to meet desired needs. The students are required to design simple and complex (model based) controllers for robot manipulation.
3He/She can identify formulate and solve engineering problems. The course teaches the fundamentals to model a robotic manipulator. Given a certain manipulation task the student is required to understand and formulate the necessary control architecture.
4He/She can use modern engineering tools. Computer simulation tools are used to better understand the manipulator dynamics. A specific homework is given to simulate and control a two link arm.

COURSE'S CONTRIBUTION TO PROGRAM
PO 01PO 02PO 03PO 04PO 05PO 06PO 07PO 08PO 09PO 10PO 11PO 12
LO 01 55         
LO 02  5554      
LO 03   3        
LO 045534 3      
Sub Total510131257      
Contribution133312000000

ECTS ALLOCATED BASED ON STUDENT WORKLOAD BY THE COURSE DESCRIPTION
ActivitiesQuantityDuration (Hour)Total Work Load (Hour)
Course Duration (14 weeks/theoric+practical)14342
Hours for off-the-classroom study (Pre-study, practice)14570
Mid-terms188
Final examination11010
Total Work Load

ECTS Credit of the Course






130

5

COURSE DETAILS
 Select Year   


 Course TermNoInstructors
Details 2019-2020 Fall1HATİCE HİLAL EZERCAN KAYIR

Course Details
Course Code:  EEEN 324 Course Title:  INTRODUCTION TO ROBOTIC SYSTEMS
L+P Hour : 3 + 0   Course Code : 1   Language Of Instruction: Turkish Course Semester :  2019-2020 Fall
Course Coordinator :  ASSISTANT PROFESSOR HATİCE HİLAL EZERCAN KAYIR E-Mail:  hezercan@pau.edu.tr Phone Number : 
Course Location MUH A0233,
Goals : This course aims to give the students the fundamental concepts of robotic manipulators. It covers robot kinematics and dynamics. The servo control of manipulators is also covered.
Content : Understand the fundamental concepts of robotic manipulators / Derive kinematic equations for any given robotic manipulator / Derive manipulator dynamics for any given robot arm / Design a simple feedback controller for trajectory following of a manipulator / Design model based (computed torque) controller for a robotic manipulator.
Attendance : %60
Topics
WeeksTopics
1 INTRODUCTION TO ROBOT SYSTEMS, CLASSIFICATIONS OF ROBOT SYSYTEMS
2 INTRODUCTION TO ROBOT SYSTEMS, CLASSIFICATIONS OF ROBOT SYSYTEMS
3 MOBILE ROBOTS AND MOTION PLANNING FOR MOBILE ROBOTS
4 MOBILE ROBOTS AND MOTION PLANNING FOR MOBILE ROBOTS
5 BUG ALGORİTHMS
6 POTENTIAL FUNCTIONS
7 ROADMAPS
8 ROADMAPS
9 SEARCH ALGORİTHMS
10 SEARCH ALGORİTHMS
11 MULTI-ROBOT SYSTEMS
12 ÇOK ERKİNLİ SİSTEMLER (ÇES)
13 COORDINATION MECHANISMS FOR MULTI AGENT SYSTEMS
14 NONHOLONOMİC VEHİCLE DYNAMICS
Materials
Materials are not specified.
Resources
ResourcesResources Language
Principles of Robot Motion, Howie ChosetEnglish
Introduction to Autonomous Mobile Robots, Roland Siegwart, Illah NourbakhshEnglish
Fundamentals of Multiagent Systems, Jose M. VidalEnglish
Course Assessment
Assesment MethodsPercentage (%)Assesment Methods Title
Final Exam60Final Exam
Midterm Exam40Midterm Exam
L+P: Lecture and Practice
PQ: Program Learning Outcomes
LO: Course Learning Outcomes
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