Course Detail
Course Description
Course | Code | Semester | T+P (Hour) | Credit | ECTS |
---|---|---|---|---|---|
MEDICAL ROBOTICS | - | Spring Semester | 3+2 | 4 | 8 |
Course Program |
Prerequisites Courses | |
Recommended Elective Courses |
Language of Course | English |
Course Level | First Cycle (Bachelor's Degree) |
Course Type | Elective |
Course Coordinator | Assist.Prof. Elif HOCAOĞLU |
Name of Lecturer(s) | Assist.Prof. Elif HOCAOĞLU |
Assistant(s) | |
Aim | To provide students with a solid foundation for the multidisciplinary field of robotics |
Course Content | This course contains; Overview about the course, Introduction to Robotics, Robotics Applications, Rigid Motions, Rotation Matrices, Euler Angles, Roll-Pitch-Yaw Angles,Homogenous Transformations, Skew Symmetric Matrices, Angular Velocity and Acceleration,Forward Kinematics, Inverse Kinematics,Velocity Kinematics, Derivation of Jacobian Matrix, Singularity,Dynamics, Euler – Lagrange Formulations, Illustration of the Method on Planar Elbow Manipulator, Illustration of the Method on Planar Elbow Manipulator,Dynamics, Newton-Euler Formulation, Illustration of the Method on Planar Elbow Manipulator,Independent Joint Control, Actuator Dynamics, Set-Point Tracking using a PD&PID Compensator,Midterm Exam,State-Space Design, State Feedback Control, Observers,Feedforward Control and Computed Torque,Multivariable Control for Robotic Manipulators: Inverse Dynamics, Cartesian Control,Contact Modeling, Force Control,Stiffness and Compliance, Inverse Dynamics in Task Space, Impedance Control, Hybrid Position- Force Control,Project Presentations. |
Dersin Öğrenme Kazanımları | Teaching Methods | Assessment Methods |
Classify main types of industrial and non-industrial robots, | 10, 12, 14, 16, 19, 2, 21, 37, 5, 6, 9 | A, E, F, G |
Use various mathematical tools for the single chain robot kinematic and dynamic analysis and the fundamental control methodologies for robot tracking and force control. | 12, 14, 16, 17, 19, 2, 21, 9 | A, F, G |
Generate smooth trajectories. | 12, 14, 17, 19, 2, 21, 5, 9 | A, E, F, G |
Choose appropriate actuation and reduction mechanisms for robotic designs. | 12, 14, 16, 17, 19, 2, 21, 5, 6, 9 | A, E, F, G |
Simulate the dynamics of robotic manipulators under independent joint and multivariable control strategies. | 10, 12, 14, 16, 17, 19, 2, 21, 5, 6, 9 | A, D, E, F, G |
Identify various medical robotic architectures in robotic systems and experience hardware based implementations. | 12, 14, 16, 17, 19, 2, 21, 5, 6, 9 | F |
Teaching Methods: | 10: Discussion Method, 12: Problem Solving Method, 14: Self Study Method, 16: Question - Answer Technique, 17: Experimental Technique, 19: Brainstorming Technique, 2: Project Based Learning Model, 21: Simulation Technique, 37: Computer-Internet Supported Instruction, 5: Cooperative Learning, 6: Experiential Learning, 9: Lecture Method |
Assessment Methods: | A: Traditional Written Exam, D: Oral Exam, E: Homework, F: Project Task, G: Quiz |
Course Outline
Order | Subjects | Preliminary Work |
---|---|---|
1 | Overview about the course, Introduction to Robotics, Robotics Applications, Rigid Motions, Rotation Matrices, Euler Angles, Roll-Pitch-Yaw Angles | Course slides and the 1st chapter of the course book |
2 | Homogenous Transformations, Skew Symmetric Matrices, Angular Velocity and Acceleration | Course slides and the 2nd chapter of the course book |
3 | Forward Kinematics, Inverse Kinematics | Course slides, 3rd and 4th chapters of the course book |
4 | Velocity Kinematics, Derivation of Jacobian Matrix, Singularity | Course slides and 5th chapter of the course book |
5 | Dynamics, Euler – Lagrange Formulations, Illustration of the Method on Planar Elbow Manipulator, Illustration of the Method on Planar Elbow Manipulator | Course slides and 6th chapter of the course book |
6 | Dynamics, Newton-Euler Formulation, Illustration of the Method on Planar Elbow Manipulator | Course slides and 6th chapter of the course book |
7 | Independent Joint Control, Actuator Dynamics, Set-Point Tracking using a PD&PID Compensator | Course slides and 7th chapter of the course book |
8 | Midterm Exam | |
9 | State-Space Design, State Feedback Control, Observers | Course slides and 7th chapter of the course book |
10 | Feedforward Control and Computed Torque | Course slides and 7th chapter of the course book |
11 | Multivariable Control for Robotic Manipulators: Inverse Dynamics, Cartesian Control | Course slides and 8th chapter of the course book |
12 | Contact Modeling, Force Control | Course slides and the 8th chapter of the course book |
13 | Stiffness and Compliance, Inverse Dynamics in Task Space, Impedance Control, Hybrid Position- Force Control | Course slides and 9th chapter of the course book |
14 | Project Presentations |
Resources |
Mark W. Spong, M. Vidyasagar, "Robot Dynamics and Control", John Wiley & Sons, Inc. , First Edition. ISBN-139780471612438 |
1. MATLAB Control System Toolbox, SIMULINK (Code Examples) 2. Arduino (Built-in Examples) https://www.arduino.cc/en/Tutorial/BuiltInExamples |
Course Contribution to Program Qualifications
Course Contribution to Program Qualifications | |||||||
No | Program Qualification | Contribution Level | |||||
1 | 2 | 3 | 4 | 5 | |||
1 | An ability to apply knowledge of mathematics, science, and engineering | X | |||||
2 | An ability to identify, formulate, and solve engineering problems | X | |||||
3 | An ability to design a system, component, or process to meet desired needs within realistic constraints such as economic, environmental, social, political, ethical, health and safety, manufacturability, and sustainability | X | |||||
4 | An ability to use the techniques, skills, and modern engineering tools necessary for engineering practice | X | |||||
5 | An ability to use the techniques, skills, and modern engineering tools necessary for engineering practice | X | |||||
6 | An ability to function on multidisciplinary teams | X | |||||
7 | An ability to communicate effectively | X | |||||
8 | A recognition of the need for, and an ability to engage in life-long learning | X | |||||
9 | An understanding of professional and ethical responsibility | X | |||||
10 | A knowledge of contemporary issues | X | |||||
11 | The broad education necessary to understand the impact of engineering solutions in a global, economic, environmental, and societal context | X | |||||
12 | Capability to apply and decide on engineering principals while understanding and rehabilitating the human body | X |
Assessment Methods
Contribution Level | Absolute Evaluation | |
Rate of Midterm Exam to Success | 30 | |
Rate of Final Exam to Success | 70 | |
Total | 100 |
ECTS / Workload Table | ||||||
Activities | Number of | Duration(Hour) | Total Workload(Hour) | |||
Course Hours | 0 | 0 | 0 | |||
Guided Problem Solving | 0 | 0 | 0 | |||
Resolution of Homework Problems and Submission as a Report | 0 | 0 | 0 | |||
Term Project | 0 | 0 | 0 | |||
Presentation of Project / Seminar | 0 | 0 | 0 | |||
Quiz | 0 | 0 | 0 | |||
Midterm Exam | 0 | 0 | 0 | |||
General Exam | 0 | 0 | 0 | |||
Performance Task, Maintenance Plan | 0 | 0 | 0 | |||
Total Workload(Hour) | 0 | |||||
Dersin AKTS Kredisi = Toplam İş Yükü (Saat)/30*=(0/30) | 0 | |||||
ECTS of the course: 30 hours of work is counted as 1 ECTS credit. |
Detail Informations of the Course
Course Description
Course | Code | Semester | T+P (Hour) | Credit | ECTS |
---|---|---|---|---|---|
MEDICAL ROBOTICS | - | Spring Semester | 3+2 | 4 | 8 |
Course Program |
Prerequisites Courses | |
Recommended Elective Courses |
Language of Course | English |
Course Level | First Cycle (Bachelor's Degree) |
Course Type | Elective |
Course Coordinator | Assist.Prof. Elif HOCAOĞLU |
Name of Lecturer(s) | Assist.Prof. Elif HOCAOĞLU |
Assistant(s) | |
Aim | To provide students with a solid foundation for the multidisciplinary field of robotics |
Course Content | This course contains; Overview about the course, Introduction to Robotics, Robotics Applications, Rigid Motions, Rotation Matrices, Euler Angles, Roll-Pitch-Yaw Angles,Homogenous Transformations, Skew Symmetric Matrices, Angular Velocity and Acceleration,Forward Kinematics, Inverse Kinematics,Velocity Kinematics, Derivation of Jacobian Matrix, Singularity,Dynamics, Euler – Lagrange Formulations, Illustration of the Method on Planar Elbow Manipulator, Illustration of the Method on Planar Elbow Manipulator,Dynamics, Newton-Euler Formulation, Illustration of the Method on Planar Elbow Manipulator,Independent Joint Control, Actuator Dynamics, Set-Point Tracking using a PD&PID Compensator,Midterm Exam,State-Space Design, State Feedback Control, Observers,Feedforward Control and Computed Torque,Multivariable Control for Robotic Manipulators: Inverse Dynamics, Cartesian Control,Contact Modeling, Force Control,Stiffness and Compliance, Inverse Dynamics in Task Space, Impedance Control, Hybrid Position- Force Control,Project Presentations. |
Dersin Öğrenme Kazanımları | Teaching Methods | Assessment Methods |
Classify main types of industrial and non-industrial robots, | 10, 12, 14, 16, 19, 2, 21, 37, 5, 6, 9 | A, E, F, G |
Use various mathematical tools for the single chain robot kinematic and dynamic analysis and the fundamental control methodologies for robot tracking and force control. | 12, 14, 16, 17, 19, 2, 21, 9 | A, F, G |
Generate smooth trajectories. | 12, 14, 17, 19, 2, 21, 5, 9 | A, E, F, G |
Choose appropriate actuation and reduction mechanisms for robotic designs. | 12, 14, 16, 17, 19, 2, 21, 5, 6, 9 | A, E, F, G |
Simulate the dynamics of robotic manipulators under independent joint and multivariable control strategies. | 10, 12, 14, 16, 17, 19, 2, 21, 5, 6, 9 | A, D, E, F, G |
Identify various medical robotic architectures in robotic systems and experience hardware based implementations. | 12, 14, 16, 17, 19, 2, 21, 5, 6, 9 | F |
Teaching Methods: | 10: Discussion Method, 12: Problem Solving Method, 14: Self Study Method, 16: Question - Answer Technique, 17: Experimental Technique, 19: Brainstorming Technique, 2: Project Based Learning Model, 21: Simulation Technique, 37: Computer-Internet Supported Instruction, 5: Cooperative Learning, 6: Experiential Learning, 9: Lecture Method |
Assessment Methods: | A: Traditional Written Exam, D: Oral Exam, E: Homework, F: Project Task, G: Quiz |
Course Outline
Order | Subjects | Preliminary Work |
---|---|---|
1 | Overview about the course, Introduction to Robotics, Robotics Applications, Rigid Motions, Rotation Matrices, Euler Angles, Roll-Pitch-Yaw Angles | Course slides and the 1st chapter of the course book |
2 | Homogenous Transformations, Skew Symmetric Matrices, Angular Velocity and Acceleration | Course slides and the 2nd chapter of the course book |
3 | Forward Kinematics, Inverse Kinematics | Course slides, 3rd and 4th chapters of the course book |
4 | Velocity Kinematics, Derivation of Jacobian Matrix, Singularity | Course slides and 5th chapter of the course book |
5 | Dynamics, Euler – Lagrange Formulations, Illustration of the Method on Planar Elbow Manipulator, Illustration of the Method on Planar Elbow Manipulator | Course slides and 6th chapter of the course book |
6 | Dynamics, Newton-Euler Formulation, Illustration of the Method on Planar Elbow Manipulator | Course slides and 6th chapter of the course book |
7 | Independent Joint Control, Actuator Dynamics, Set-Point Tracking using a PD&PID Compensator | Course slides and 7th chapter of the course book |
8 | Midterm Exam | |
9 | State-Space Design, State Feedback Control, Observers | Course slides and 7th chapter of the course book |
10 | Feedforward Control and Computed Torque | Course slides and 7th chapter of the course book |
11 | Multivariable Control for Robotic Manipulators: Inverse Dynamics, Cartesian Control | Course slides and 8th chapter of the course book |
12 | Contact Modeling, Force Control | Course slides and the 8th chapter of the course book |
13 | Stiffness and Compliance, Inverse Dynamics in Task Space, Impedance Control, Hybrid Position- Force Control | Course slides and 9th chapter of the course book |
14 | Project Presentations |
Resources |
Mark W. Spong, M. Vidyasagar, "Robot Dynamics and Control", John Wiley & Sons, Inc. , First Edition. ISBN-139780471612438 |
1. MATLAB Control System Toolbox, SIMULINK (Code Examples) 2. Arduino (Built-in Examples) https://www.arduino.cc/en/Tutorial/BuiltInExamples |
Course Contribution to Program Qualifications
Course Contribution to Program Qualifications | |||||||
No | Program Qualification | Contribution Level | |||||
1 | 2 | 3 | 4 | 5 | |||
1 | An ability to apply knowledge of mathematics, science, and engineering | X | |||||
2 | An ability to identify, formulate, and solve engineering problems | X | |||||
3 | An ability to design a system, component, or process to meet desired needs within realistic constraints such as economic, environmental, social, political, ethical, health and safety, manufacturability, and sustainability | X | |||||
4 | An ability to use the techniques, skills, and modern engineering tools necessary for engineering practice | X | |||||
5 | An ability to use the techniques, skills, and modern engineering tools necessary for engineering practice | X | |||||
6 | An ability to function on multidisciplinary teams | X | |||||
7 | An ability to communicate effectively | X | |||||
8 | A recognition of the need for, and an ability to engage in life-long learning | X | |||||
9 | An understanding of professional and ethical responsibility | X | |||||
10 | A knowledge of contemporary issues | X | |||||
11 | The broad education necessary to understand the impact of engineering solutions in a global, economic, environmental, and societal context | X | |||||
12 | Capability to apply and decide on engineering principals while understanding and rehabilitating the human body | X |
Assessment Methods
Contribution Level | Absolute Evaluation | |
Rate of Midterm Exam to Success | 30 | |
Rate of Final Exam to Success | 70 | |
Total | 100 |