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COURSE INFORMATION
Course CodeCourse TitleL+P HourSemesterECTS
MAE 534PRINCIPLES OF ROBOTICS3 + 01st Semester7,5

COURSE DESCRIPTION
Course Level Master's Degree
Course Type Elective
Course Objective Robotics and robotic manipulators. Hartenberg-Denavit convection. Rotation matrices. Homogeneous transformations. Direct and inverse kinamatics. Jacobian matrix. Velocity and acceleration analyses. Dynamic force analysis via Newton-Euler formulation. Motion equations via Lagrangian formulation. Trajectory planning. Independent joint control Control with computed torque method. Compliant motion control. Hybrid control with position and force feedbacks.
Course Content Robotics and robotic manipulators. Hartenberg-Denavit convection. Rotation matrices. Homogeneous transformations. Direct and inverse kinamatics. Jacobian matrix. Velocity and acceleration analyses. Dynamic force analysis via Newton-Euler formulation. Motion equations via Lagrangian formulation. Trajectory planning. Independent joint control Contro
Prerequisites No the prerequisite of lesson.
Corequisite No the corequisite of lesson.
Mode of Delivery Face to Face

COURSE LEARNING OUTCOMES
1Analysis and Synthesis Serial and Parallel Robots, Computer aided motion analysis
2Analyze serial and parallel robots
3Formulate kinematic analysis equations
4Apply Computer Aided Design methods to robot designs

COURSE'S CONTRIBUTION TO PROGRAM
PO 01PO 02PO 03PO 04PO 05PO 06PO 07PO 08PO 09PO 10PO 11PO 12
LO 0015543 3 1 3  
LO 0025523 4 2232 
LO 003553325122322
LO 004553325122322
Sub Total202012124172761264
Contribution553314122321

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-terms12020
Final examination16363
Total Work Load

ECTS Credit of the Course






195

7,5
COURSE DETAILS
 Select Year   


 Course TermNoInstructors
Details 2010-2011 Spring1FATİH CEMAL CAN


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Course Details
Course Code Course Title L+P Hour Course Code Language Of Instruction Course Semester
MAE 534 PRINCIPLES OF ROBOTICS 3 + 0 1 Turkish 2010-2011 Spring
Course Coordinator  E-Mail  Phone Number  Course Location Attendance
Course location is not specified. %
Goals Robotics and robotic manipulators. Hartenberg-Denavit convection. Rotation matrices. Homogeneous transformations. Direct and inverse kinamatics. Jacobian matrix. Velocity and acceleration analyses. Dynamic force analysis via Newton-Euler formulation. Motion equations via Lagrangian formulation. Trajectory planning. Independent joint control Control with computed torque method. Compliant motion control. Hybrid control with position and force feedbacks.
Content Robotics and robotic manipulators. Hartenberg-Denavit convection. Rotation matrices. Homogeneous transformations. Direct and inverse kinamatics. Jacobian matrix. Velocity and acceleration analyses. Dynamic force analysis via Newton-Euler formulation. Motion equations via Lagrangian formulation. Trajectory planning. Independent joint control Contro
Topics
WeeksTopics
1 Definition of the robot, Historical Development, Classification of Robots,
2 Position, orientation and location of a Rigid Body
3 Homogeneous Transformations
4 Mechanics of Robot Manipulators
5 Position analysis of serial manipulators, Link Parameters and Link Coordinate Systems
6 Position analysis of serial manipulators, Denavit-Hartenberg Transformation Matrices
7 Position analysis of serial manipulators, Loop-Closure equations
8 Position analysis of serial manipulators, Applications of Denavit-Hartenberg Method, Forward and inverse position analysis
9 Position analysis of parallel manipulators, Structure Classification of Parallel Manipulators
10 Position analysis of parallel manipulators, Position Analysis of a Planar 3RRR Parallel Manipulator
11 Position Analysis of a Spatial Orientation Mechanism
12 Jocabian Analysis of Serial and Parallel Manipulators
13 Static and Dynamic Analysis of Serial and Parallel Manipulators
14 Control of Parallel and Serial Manipulators
Materials
Materials are not specified.
Resources
Course Assessment
L+P: Lecture and Practice
PQ: Program Learning Outcomes
LO: Course Learning Outcomes