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Description of Individual Course Units

Course Unit Code Course Unit Title Type Of Course D U L ECTS MAT 4076 MATHEMATICAL FUNDAMENTALS OF ROBOTICS ELECTIVE 4 0 0 7

Offered By

Mathematics (English)

Level of Course Unit

First Cycle Programmes (Bachelor's Degree)

Course Coordinator

ASSOCIATE PROFESSOR ILHAN KARAKILIÇ

Offered to

Mathematics (English)

Course Objective

The aim of this course is to define the mathematical fundamentals of robotics and to determine the spatial kinematics by use of the plane and spherical kinematics.

Learning Outcomes of the Course Unit

1   Will be able to express the linkages. 2   Will be able to define planar displacements and pole points. 3   Will be able to define spherical displacements, rotation axis and angles. 4   Will be able to determine the spatial displacements and screws. 5   Will be able to express the motion of a mechanism.

Mode of Delivery

Face -to- Face

Prerequisites and Co-requisites

None

Recomended Optional Programme Components

None

Course Contents

Week Subject Description 1 Articulated Motion and Robotics. Linkages, Mobility, Workspace. 2 Planar Kinematics. Planar Displacements 3 Pole Points, The Pole Triangle. 4 Spherical Kinematics. Rotational Displacements 5 The Rotation Axis, The Rotation Angle, The Axis of Composite Rotation. 6 Spatial Kinematics. Spatial Displacements. 7 Homogeneous Transforms. Composition of Transforms. 8 Problem Solving 9 Screw Displacements. The Screw Matrix. 10 Clifford Algebra and Kinematics. 11 Lines and Screws. 12 Plücker Coordinates of a Line. Screws. 13 Dual Vector Algebra. 14 Displacements of Screws.

Recomended or Required Reading

Textbook(s): McCarthy J.M., Soh G. S., Geometric Design of Linkages, Springer, 2011. Supplementary Book(s): Tsai L. W. , Robot Analysis, John Wiley & Sons, 1999.

Planned Learning Activities and Teaching Methods

Assessment Methods

SORTING NUMBER SHORT CODE LONG CODE FORMULA 1 MTE MIDTERM EXAM 2 FIN FINAL EXAM 3 FCG FINAL COURSE GRADE MTE * 0.50 + FIN * 0.50 4 RST RESIT 5 FCGR FINAL COURSE GRADE (RESIT) MTE * 0.50 + RST * 0.50

Further Notes About Assessment Methods

If needed, other assessment methods can be added to the table given below. Midterm, Final

Assessment Criteria

To be announced.

Language of Instruction

English

Course Policies and Rules

To be announced.

Contact Details for the Lecturer(s)

ilhan.karakilic@gmail.com +90 (232) 301 85 89

Office Hours

To be announced.

Work Placement(s)

None

Workload Calculation

Activities Number Time (hours) Total Work Load (hours) Lectures 14 4 56 Preparations before/after weekly lectures 14 4 56 Preparation for midterm exam 1 30 30 Preparation for final exam 1 30 30 Midterm 1 3 3 Final 1 3 3 TOTAL WORKLOAD (hours) 178

Contribution of Learning Outcomes to Programme Outcomes

PO/LO PO.1 PO.2 PO.3 PO.4 PO.5 PO.6 PO.7 PO.8 PO.9 PO.10 PO.11 PO.12 PO.13 LO.1 5 5 LO.2 5 5 5 4 5 4 LO.3 5 5 4 4 3 5 4 4 3 2 LO.4 5 5 5 5 5 4 4 3 4 LO.5 5 5 5 5 5 5 5 5 4 4 4 4 4