EE587 INTRODUCTION TO ROBOTICS
| Course Code: | 5670587 |
| METU Credit (Theoretical-Laboratory hours/week): | 3 (3.00 - 0.00) |
| ECTS Credit: | 8.0 |
| Department: | Electrical and Electronics Engineering |
| Language of Instruction: | English |
| Level of Study: | Graduate |
| Course Coordinator: | Prof.Dr. AFŞAR SARANLI |
| Offered Semester: | Fall Semesters. |
Course Objectives
The objective of this course is for the student to learn the fundamental mathematical techniques to analyze and design multi-jointed robotic systems. These techniques correspond to the robot geometry i.e., the position, velocity relationships between the robot actuators and the intended robot motion (kinematics & velocity kinematics); dynamical models of robots including actuator to task torque/force transfer (robot dynamics) as well as control of robot actuators to result in desired motion (robot control). These techniques apply to classical robot manipulators as well as mobile robots such as wheeled or legged robots. Time permitting, we will also touch upon robot path planning and trajectory generation as well as more advanced robot control approaches. Hopefully, you will be at a point to use this knowledge to advance your research goals or to find more competitive engineering solutions in your work.
Course Content
Evolution of robots, elements of robotic systems, mathematics of manipulators, homogeneous transformations, endeffector position and orientation, kinematics, inverse kinematics, differential changes, task planning and path planning. Manipulator dynamics.
Course Learning Outcomes
At the end of this course, the aim is for the student to be able to:
- Know 3D coordinate systems and translation and rotation representations in 3D space,
- Combine successive translations and rotations to coordinate systems,
- Derive the task-space robot motion (end effector or robot body) given the motions of the actuators,
- Understand and apply the Jacobian,
- Derive the task-space velocities (end effector or robot body) given the velocities of the actuators,
- Derive the task-space forces (end effector or robot body) given the forces/torques of the actuators,
- Model the dynamics of robotic systems using Euler-Lagrange and Newton-Euler Formulation,
- (Plan trajectories for the end-effector (or robot body) and translate these into joint space)
- (Apply joint-space control strategies for controlling robot motion along the planned trajectries)
Program Outcomes Matrix
| Contribution | |||||
| # | Program Outcomes | No | Yes | ||
| 1 | Depth: Our graduates acquire in depth knowledge in one of the various specialization areas of Electrical and Electronics Engineering, they are informed about current scientific research topics and they implement innovative methods. | ✔ | |||
| 2 | Breadth: Our graduates get familiarized in other subspecialty areas related to their specialization in Electrical and Electronics engineering and/or relevant areas in other disciplines. | ✔ | |||
| 3 | Research: Our graduates acquire the skills to conduct and to complete scientific research by accessing contemporary knowledge in their specialty areas. | ✔ | |||
| 4 | Life-long learning: Our graduates develop their life-long learning habits. | ✔ | |||
| 5 | Communication skills: Our graduates concisely communicate their ideas and work related results in written and oral form. | ✔ | |||
| 6 | Ethics: Our graduates internalize rules of research and publication ethics as well as professional ethics. | ✔ | |||