**KOC UNIVERSITY
Department of Mechanical Engineering
MECH 544/444 Robotics**

This course will introduce the fundamental concepts of modeling, control, sensing, and intelligence of robotic systems. The course will have two parts: a) robotic manipulators and b) mobile robots. In part (a), we will discuss forward and inverse kinematics, trajectory planning, dynamics, control, and programming of robotic manipulators. In part (b), we will study hardware components of mobile robots, visual and navigational sensors, pose estimation, navigation, and reasoning in mobile robots. Students will get hands-on experience by working with robotic arms and mobile robots in a laboratory environment. |

**Instructor**: Prof.
Cagatay Basdogan

Office: ENG-247

Extension: 1721

e-mail: cbasdogan@ku.edu.tr

**Teaching Assistant**:

Doganay Sirintuna

Office: ENG-259

Extension: 2637

e-mail: dsirintuna13@ku.edu.tr

Idil Ozdamar

Office: ENG-259

Extension: 2637

e-mail: iozdamar13@ku.edu.tr

**Text:** Introduction
to Robotics (primary text)

John J. CRAIG , 3nd Edition, Prentice
Hall

** **Ref**:
**Computational Principles of Mobile Robotics

Gregory
DUDEK Micheal JENKIN, Cambridge

**Lectures**: Monday 11.30-12.45

Wednesday 11.30-12.45

**Exams:**
One mid-term and one final exam
will be given. The exams will be closed-book. One sheet (letter size,
double-sided) notes/formulas will be permitted in the exams.

MT-Exam TBA

Final
Exam TBA

**Projects:**
There will be three projects in the
course. In the first project, students will model the forward and inverse
kinematics of a robotic manipulator. In the second project, they will develop a
path planning algorithm in MATLAB to calculate and simulate the collision-free
path of a robotic arm. In the third project, students will develop a PID
controller such that a robotic arm follows a predefined trajectory.

**Grading**:

Project
-I 15.0 %

Project
–II 15.0 %

Project –III 15.0 %

MT Exam 22.5
%

Final 22.5
%

Hws 10.0
%

**Academic**

**Integrity: **
Academic honesty is expected of
all students.

**Discussions between students are highly encouraged, but copying a
homework or a code
from others is strickly
prohibited and will result in the failure in the course**.