END3244 INTRODUCTION TO ROBOTICS

Spring 2024

Syllabus

General Information

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.

Attendance

Minimum 70%.

Instructor

Prof. Dr. Â. Yurdun Orbak

Room Y315

orbak@uludag.edu.tr

Student Meeting Hours

Mondays TBD

Lecture Time/Place

Mondays 11:15 - 13:00 / Y104

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://orbak.home.uludag.edu.tr/END3244.html for updates.