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.