School/Faculty/Institute Faculty of Engineering
Course Code ME 476
Course Title in English Computer Control and Robotics
Course Title in Turkish Bilgisayar Kontrolu ve Robotik
Language of Instruction EN
Type of Course Flipped Classroom,Practical,Project
Level of Course Introductory
Semester Fall
Contact Hours per Week
Lecture: 3 Recitation: - Lab: - Other: -
Estimated Student Workload 160 hours per semester
Number of Credits 6 ECTS
Grading Mode Standard Letter Grade
Pre-requisites DYN 201 - Engineering Mechanics: Dynamics
Co-requisites None
Expected Prior Knowledge Control systems modeling, basics of electronic circuits
Registration Restrictions Only Undergraduate Students
Overall Educational Objective To learn the basic principles of numerical control (NC) of point-to-point and contour modes, as well as the basics of kinematics and dynamics of robot manipulators.
Course Description This course provides an introduction to the foundations of computer control and robotics. The following topics are covered: Design of NC systems; interpolators for point-to-point and contouring systems, the microcontroller and its components; robot coordinate systems, direct & inverse kinematics; the Denavit-Hartenberg and the Jacobian methods for inverse kinematics of robot manipulators; dynamics and control of robot manipulators; programming of industrial robots.

Course Learning Outcomes and Competences

Upon successful completion of the course, the learner is expected to be able to:
1) Identify, analyze, formulate and solve problems of numerical control, and its applications in manufacture. Analyze and discuss contemporary issues in robotics;
2) Identify, analyze, formulate and solve problems on interpolators and their applications in point-to-point and contouring systems;
3) Identify, analyze, formulate and solve problems on coordinate systems and main kinematic methods for industrial robot manipulators. Apply engineering tools for analysis and problem-solving;
4) Apply knowledge of mathematics and engineering to identify, analyze, formulate and solve problems related to dynamics of robot manipulators;
5) Construct a prototype, meeting technical specifications and constraints;
6) Communicate and work effectively in teams to set goals, tasks, and meet deadlines;
7) Engage in real life problem-solving and demonstrate life-long learning skills;
8) Write project reports and orally defend them.
Program Learning Outcomes/Course Learning Outcomes 1 2 3 4 5 6 7 8
1) An ability to identify, formulate, and solve complex engineering problems by applying principles of engineering, science, and mathematics
2) An ability to apply engineering design to produce solutions that meet specified needs with consideration of public health, safety, and welfare, as well as global, cultural, social, environmental, and economic factors
3) An ability to communicate effectively with a range of audiences
4) An ability to recognize ethical and professional responsibilities in engineering situations and make informed judgments, which must consider the impact of engineering solutions in global, economic, environmental, and societal contexts
5) An ability to function effectively on a team whose members together provide leadership, create a collaborative and inclusive environment, establish goals, plan tasks, and meet objectives
6) An ability to develop and conduct appropriate experimentation, analyze and interpret data, and use engineering judgment to draw conclusions
7) An ability to acquire and apply new knowledge as needed, using appropriate learning strategies

Relation to Program Outcomes and Competences

N None S Supportive H Highly Related
     
Program Outcomes and Competences Level Assessed by
1) An ability to identify, formulate, and solve complex engineering problems by applying principles of engineering, science, and mathematics H HW,Participation
2) An ability to apply engineering design to produce solutions that meet specified needs with consideration of public health, safety, and welfare, as well as global, cultural, social, environmental, and economic factors S Project
3) An ability to communicate effectively with a range of audiences N Project
4) An ability to recognize ethical and professional responsibilities in engineering situations and make informed judgments, which must consider the impact of engineering solutions in global, economic, environmental, and societal contexts S Participation
5) An ability to function effectively on a team whose members together provide leadership, create a collaborative and inclusive environment, establish goals, plan tasks, and meet objectives S Participation,Project
6) An ability to develop and conduct appropriate experimentation, analyze and interpret data, and use engineering judgment to draw conclusions S Project
7) An ability to acquire and apply new knowledge as needed, using appropriate learning strategies S Project
Prepared by and Date DANTE DORANTES , May 2018
Course Coordinator ALİ ÇINAR
Semester Fall
Name of Instructor Prof. Dr. DANTE DORANTES

Course Contents

Week Subject
1) Fundamentals of Numerical Control and its applications to manufacture. Contemporary issues in robotics and automation
2) Design considerations of NC machine tools and its components
3) Interpolators for manufacturing systems
4) Point-to-point and contouring tasks
5) Control systems and microcontrollers
6) Robotics and industrial robot manipulators
7) Coordinate systems and direct kinematics of industrial robot manipulators
8) Inverse kinematics of industrial robot manipulators
9) The Denavit-Hartenberg method for the kinematics of robot manipulators
10) The Jacobian method for inverse kinematics of robot manipulators
11) Dynamics of robot manipulators
12) Control of robot manipulators. Programming of industrial robots
13) Work on the project
14) Work on the project
15) Final Examination Period
16) Final Examination Period
Required/Recommended Readings• Robot Modeling and Control, Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, John Wiley & Sons, Inc. (textbook) Other references: • Robotics, Vision and Control. Fundamental Algorithms in MATLAB, Peter Corke, Springer, 2nd Ed. (2017), ISBN: 978-3-319-54412-0, ISBN: 978-3-319-54413-7 • Robotics Toolbox for MATLAB (Release 6), Peter I. Corke, (2001) • Computer Control of Manufacturing Systems. Yoram Koren, McGraw-Hill International Editions (1983), ISBN-10: 0070353417, ISBN-13: 978-0070353411 • Microcomputer Applications in Manufacturing, A. Galip Ulsoy, Warren R. DeVries, John Wiley, 1 Ed. (1989), ISBN-10: 0471611891, ISBN-13: 978-0471611899 • Introduction to Robotics: Mechanics and Control, John J. Craig, Pearson Prentice Hall, 3rd Ed. (2004), ISBN-10: 0201543613, ISBN-13: 978-0201543612 • Robotics: Control, Sensing, Vision and Intelligence, C.S. George Lee, King-Sun Fu, Ralph Gonzalez, King-Sun Fu, McGaw-Hill International Editions (1987), ISBN-10: 0071004211, ISBN-13: 978-0071004213 • Mechatronics, Takemoto Isii, Isao Shimoyama, Hirotaka Inoue, Michitaka Hirose, Naomasa Nakajima, Mir Publishing (1988), ISBN: 5-03-000059-3
Teaching MethodsFlipped classroom
Homework and ProjectsMatlab and Robotics Toolbox simulation. Construction of a computer-controlled robot.
Laboratory WorkNone
Computer UseMatlab and Robotics Toolbox
Other ActivitiesNone
Assessment Methods
Assessment Tools Count Weight
Application 6 % 10
Quiz(zes) 5 % 5
Homework Assignments 6 % 30
Project 1 % 35
Final Examination 1 % 20
TOTAL % 100
Course Administration dorantesd@mef.edu.tr
0212 395 36 40
Instructor’s office: 5th Floor office hours: Tuesday 13:00-15:00 email address: dante.dorantes@mef.edu.tr Rules for attendance: attendance is taken during Flipped Classroom Practice. A minimum of 70% of attendance is mandatory. Rules for Flipped Classroom Practice: Missed Flipped Classroom Practice quizzes will be given a zero grade. Participation quizzes with flaws or lack of individual collaboration attitude during team work will be given a grade of one. Successful participation quizzes and individual collaboration attitude will be given a grade of two. Rules for missing a midterm: Provided that a valid justification approved by the university is presented, a make-up examination will be granted one week after the regular exam date. There will be no resit exam. Minimum grade to be allowed to take the final exam (FZ): Satisfactory Flipped Classroom Practice, Midterm and Project grades, as well as at least 70% attendance are mandatory to be allowed to present the final exam (presentation and defense). Missing a final: Faculty regulations A reminder of proper classroom behavior, code of student conduct: YÖK Regulations Statement on plagiarism: YÖK Regulations http://www.mef.edu.tr/Yonetmelikler

ECTS Student Workload Estimation

Activity No/Weeks Hours Calculation
No/Weeks per Semester Preparing for the Activity Spent in the Activity Itself Completing the Activity Requirements
Course Hours 12 2 3 1 72
Project 1 8 18 26
Homework Assignments 10 0 1 10
Midterm(s) 2 12 2 28
Final Examination 1 22 2 24
Total Workload 160
Total Workload/25 6.4
ECTS 6