END3244 INTRODUCTION TO
ROBOTICS
Spring 2018
Prerequisites General
engineering mechanics, engineering mathematics, system dynamics, and linear
algebra. Homeworks There will be voluntary
homeworks throughout the semester to understand
and grasp the subjects. Minimum 70%.
Attendance
Instructor
Assoc. Prof. Dr. Â. Yurdun Orbak
Room Y315
Student Meeting
Hours
Mondays TBD
Lecture Time/Place
Mondays 13:00 - 14:35 /
YLAB1
Grading Policy Midterm Exam 40% Final 60% |
Week |
Subjects |
(1) |
General information on robots (What
is a robot?, different types of robots, etc.) |
(2) |
Motion control system |
(3) |
Position measurement |
(4) |
Robot kinematics and transformation matrices |
(5) |
Denavit-Hartenberg
tables |
(6) |
Robot statics and dynamics |
(7) |
Robot control |
(8) |
Robot programming |
(9) |
Work-time diagrams |
(10) |
Robot design fundamentals |
(11) |
Economical
analysis of robots |
(12) |
Special topics in robotics (Vision, hearing, etc.) |
Textbooks
· K. S.
Fu, R. C. Gonzales ve C. S. G. Lee, “Robotics:
Control, Sensing, Vision and Intelligence”, McGraw-Hill Book Company, 1987.
ISBN: 0-07-022625-3.
· H. Asada
ve J. J. Slotine, “Robot Analysis and Control”, John Wiley and Sons, 1985.
· L. Sciavicco ve B. Siciliano,
“Modeling and Control of Robot Manipulators”, McGraw-Hill Companies, Inc.,
1996. ISBN: 0-07-057217-8.
References
· İbrahim
Yüksel, “Sistem Dinamiği”, 1997.
· A. J. Chipperfeld ve P. J. Fleming, “Matlab Toolboxes and Application for Control”, Peter Pergrinus
Ltd., 1993.
· Frequently check http://endustri.uludag.edu.tr/~orbak/END3244.html for
updates.