Nevşehir Hacı Bektaş Veli University Course Catalogue
|
|||||
| Year/Semester of Study | 3 / Fall Semester | ||||
| Level of Course | 1st Cycle Degree Programme | ||||
| Type of Course | Optional | ||||
| Department | ELECTRICAL AND ELECTRONICS ENGINEERING | ||||
| Pre-requisities and Co-requisites | None | ||||
| Mode of Delivery | Face to Face | ||||
| Teaching Period | 14 Weeks | ||||
| Name of Lecturer | ALPER TÜRKELİ (alperturkeli@nevsehir.edu.tr) | ||||
| Name of Lecturer(s) | |||||
| Language of Instruction | Turkish | ||||
| Work Placement(s) | None | ||||
| Objectives of the Course | |||||
| To introduce the basic features, definitions, design and control principles of robot technologies and provide preliminary knowledge for solution of complex robot design problems. | |||||
| Learning Outcomes | PO | MME | |
| The students who succeeded in this course: | |||
| LO-1 | To be able to do structural analysis of systems with robotic capabilities. To gain ability to design single-degree-of-freedom position, speed and force control systems. To be able to do manipulator design. To gain robot programming skills. Design and application skills will be gained through industrial applications. |
PO-1 Mathematics, science and engineering information to gain the practical skills. PO-2 Ability to identify engineering problems, modelling, formulate and improve the ability to solve. PO-3 In such a way that those who want to design a system or process. PO-6 To demonstrate the importance of professional and ethical responsibility. PO-8 Engineering solutions to adopt the sensitivity of the impacts that universal and social dimensions. PO-9 To adapt to innovation and emerging technologies, continuous self-renewal, and improve the ability of researchers. PO-11 The techniques required for engineering applications, methods and improve the ability to use modern tools. PO-12 Reveals the importance of quality and environmental awareness. PO-15 To improve the managerial skills. |
Examination |
| PO: Programme Outcomes MME:Method of measurement & Evaluation |
|||
| Course Contents | ||
| Definition of robots. Classification. Robot characteristics,Kinematics of robot,Rotation movements.Homogeneous transformations. Examples,Inverse kinematic transformations,Workspace analysis and trajectory planning,Differential motion and statics of robots,Manipulator dynamics.Lagrange equations. Examples,Control of robots,State equations. Fixed solutions,Linear feedback systems,Single axis PID control,Special Issues. | ||
| Weekly Course Content | ||
| Week | Subject | Learning Activities and Teaching Methods |
| 1 | Definition of robots. Classification. Robot characteristics. | Lecture, question and answer, discussion |
| 2 | Kinematics of robots. | Lecture, question and answer, discussion |
| 3 | Rotation movements. Homogeneous transformations. Examples. | Lecture, question and answer, discussion |
| 4 | Inverse kinematic transformations. | Lecture, question and answer, discussion |
| 5 | Workspace analysis and trajectory planning. | Lecture, question and answer, discussion |
| 6 | Differential motion and statics of robots | Lecture, question and answer, discussion |
| 7 | Manipulator dynamics. Lagrange equations. Examples. | Lecture, question and answer, discussion |
| 8 | mid-term exam | |
| 9 | Control of robots. | Lecture, question and answer, discussion |
| 10 | State equations. Fixed solutions. | Lecture, question and answer, discussion |
| 11 | Linear feedback systems. | Lecture, question and answer, discussion |
| 12 | Linear feedback systems. | Lecture, question and answer, discussion |
| 13 | Single axis PID control. | Lecture, question and answer, discussion |
| 14 | Single axis PID control. | Lecture, question and answer, discussion |
| 15 | Special Issues. | Lecture, question and answer, discussion |
| 16 | final exam | |
| Recommend Course Book / Supplementary Book/Reading | ||
| 1 | Robotik Sistemler Ders Notları, H. ALLİ, F.Ü., 2007. | |
| 2 | Robot Analysis and Control, H. ASADA and J. J. E. SLOTINE, Wiley-Interscience 1986. | |
| 3 | Fundamentals of Robotics, R. J. SCHILLING, Prentice Hall, 1990. | |
| 4 | Industrial Robotics, M. P. GROOVER and at all, McGraw-Hill, 1986. | |
| Required Course instruments and materials | ||
| Course book, laptop computer, projector | ||
| Assessment Methods | |||
| Type of Assessment | Week | Hours | Weight(%) |
| mid-term exam | 8 | 2 | 40 |
| Other assessment methods | |||
| 1.Oral Examination | |||
| 2.Quiz | |||
| 3.Laboratory exam | |||
| 4.Presentation | |||
| 5.Report | |||
| 6.Workshop | |||
| 7.Performance Project | |||
| 8.Term Paper | |||
| 9.Project | |||
| final exam | 16 | 2 | 60 |
| Student Work Load | |||
| Type of Work | Weekly Hours | Number of Weeks | Work Load |
| Weekly Course Hours (Theoretical+Practice) | 3 | 14 | 42 |
| Outside Class | |||
| a) Reading | 2 | 7 | 14 |
| b) Search in internet/Library | 0 | ||
| c) Performance Project | 2 | 7 | 14 |
| d) Prepare a workshop/Presentation/Report | 1 | 10 | 10 |
| e) Term paper/Project | 0 | ||
| Oral Examination | 0 | ||
| Quiz | 0 | ||
| Laboratory exam | 0 | ||
| Own study for mid-term exam | 4 | 1 | 4 |
| mid-term exam | 1 | 1 | 1 |
| Own study for final exam | 4 | 1 | 4 |
| final exam | 1 | 1 | 1 |
| 0 | |||
| 0 | |||
| Total work load; | 90 | ||