Course Detail
Course Description
| Course | Code | Semester | T+P (Hour) | Credit | ECTS |
|---|---|---|---|---|---|
| INTRODUCTION TO ROBOTICS | - | Fall 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 | This course is designed to equip students with fundamental theories and computational methodologies that are used in the design and analysis of robotic systems. Students will learn how to analytically formulate kinematic and dynamic equations for robot manipulators, how to synthesize trajectory and force tracking controllers, as well as how to utilize numerical algorithms to simulate and real-time hardware-in-the-loop controllers to implement such closed-loop control systems. During the first part of the course, students will be introduced to rigid motions in space and homogeneous transformations, forward and inverse kinematics at configuration and velocity levels, and Lagrange’s equations. Computer-aided dynamic simulations with numerical time integration methods will be exercised. During the second part of the course, students will be introduced to path and trajectory planning methods, as well as fundamental techniques for robot control. In particular, independent joint control, multi-variable control, force and impedance control approaches will be introduced and implemented on hardware. The emphasis in this course is an integrated understanding of the kinematic/dynamic modelling and control concepts for robotic manipulators. Real-time hardware-in-the-loop implementation of the controllers is also emphasized such that students can experience the control challenges of the real world, such as sensor noise and unmodeled system dynamics. This course involves a hands-on laboratory component and an individual/team project where the students are expected to implement their algorithms on sample robotic platforms. |
| 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 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., 2006, First Edition. ,ISBN-139780471612438 |
| 1. MATLAB - SIMULINK Environment 2. Course slides available through Teams 3. John J. Craig, Introduction to Robotics: Mechanics and Control, Prentice Hall, 2004. 4. R. M. Murray, Z. Li, S. S. Sastry, S. S. Sastry, A Mathematical Introduction to Robotic Manipulation, CRC Press, 1994. 5. B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotics: Modelling, Planning and Control, Springer, 2011. |
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 | ||||||
| 2 | An ability to identify, formulate, and solve engineering problems | ||||||
| 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 | ||||||
| 4 | An ability to use the techniques, skills, and modern engineering tools necessary for engineering practice | ||||||
| 5 | An ability to design and conduct experiments, as well as to analyze and interpret data | ||||||
| 6 | An ability to function on multidisciplinary teams | ||||||
| 7 | An ability to communicate effectively | ||||||
| 8 | A recognition of the need for, and an ability to engage in life-long learning | ||||||
| 9 | An understanding of professional and ethical responsibility | ||||||
| 10 | A knowledge of contemporary issues | ||||||
| 11 | The broad education necessary to understand the impact of engineering solutions in a global, economic, environmental, and societal context | ||||||
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 |
|---|---|---|---|---|---|
| INTRODUCTION TO ROBOTICS | - | Fall 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 | This course is designed to equip students with fundamental theories and computational methodologies that are used in the design and analysis of robotic systems. Students will learn how to analytically formulate kinematic and dynamic equations for robot manipulators, how to synthesize trajectory and force tracking controllers, as well as how to utilize numerical algorithms to simulate and real-time hardware-in-the-loop controllers to implement such closed-loop control systems. During the first part of the course, students will be introduced to rigid motions in space and homogeneous transformations, forward and inverse kinematics at configuration and velocity levels, and Lagrange’s equations. Computer-aided dynamic simulations with numerical time integration methods will be exercised. During the second part of the course, students will be introduced to path and trajectory planning methods, as well as fundamental techniques for robot control. In particular, independent joint control, multi-variable control, force and impedance control approaches will be introduced and implemented on hardware. The emphasis in this course is an integrated understanding of the kinematic/dynamic modelling and control concepts for robotic manipulators. Real-time hardware-in-the-loop implementation of the controllers is also emphasized such that students can experience the control challenges of the real world, such as sensor noise and unmodeled system dynamics. This course involves a hands-on laboratory component and an individual/team project where the students are expected to implement their algorithms on sample robotic platforms. |
| 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 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., 2006, First Edition. ,ISBN-139780471612438 |
| 1. MATLAB - SIMULINK Environment 2. Course slides available through Teams 3. John J. Craig, Introduction to Robotics: Mechanics and Control, Prentice Hall, 2004. 4. R. M. Murray, Z. Li, S. S. Sastry, S. S. Sastry, A Mathematical Introduction to Robotic Manipulation, CRC Press, 1994. 5. B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotics: Modelling, Planning and Control, Springer, 2011. |
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 | ||||||
| 2 | An ability to identify, formulate, and solve engineering problems | ||||||
| 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 | ||||||
| 4 | An ability to use the techniques, skills, and modern engineering tools necessary for engineering practice | ||||||
| 5 | An ability to design and conduct experiments, as well as to analyze and interpret data | ||||||
| 6 | An ability to function on multidisciplinary teams | ||||||
| 7 | An ability to communicate effectively | ||||||
| 8 | A recognition of the need for, and an ability to engage in life-long learning | ||||||
| 9 | An understanding of professional and ethical responsibility | ||||||
| 10 | A knowledge of contemporary issues | ||||||
| 11 | The broad education necessary to understand the impact of engineering solutions in a global, economic, environmental, and societal context | ||||||
Assessment Methods
| Contribution Level | Absolute Evaluation | |
| Rate of Midterm Exam to Success | 30 | |
| Rate of Final Exam to Success | 70 | |
| Total | 100 | |