Description of Individual Course Units
Course Unit CodeCourse Unit TitleType of Course UnitYear of StudySemesterNumber of ECTS Credits
9103065362005Robot AnalysisElective128
Level of Course Unit
Second Cycle
Objectives of the Course
Objectives of this course are: having the students ability to understand the solution methods of kinematic problems of serial and parallel robot manipulators.
Name of Lecturer(s)
Dr. Öğr. Üyesi Barış Oğuz Gürses
Learning Outcomes
1To learn solution methods of serial and parallel manipulator kinematics problems.
2To learn classification of robotics and concepts of homogeneous matrix
3To learn position and velocity analysis of serial and parallel manipulators.
4To learn Jacobien matrix method
5To learn singularity concept in both serial and parallel manipulators.
Mode of Delivery
Face to Face
Prerequisites and co-requisities
None
Recommended Optional Programme Components
None
Course Contents
Fundamental and advanced level analysis topics on the kinematics of serial and parallel robot manipulators. Classification of robot manipulators, rotation matrix and homogeneous transformation matrix. The position analysis of serial and parallel manipulators. Jacobian matrix. The singularity in serial and parallel manipulators.
Weekly Detailed Course Contents
WeekTheoreticalPracticeLaboratory
1Explanation of the course and general concepts
2Classification of robot manipulators
3overview of serial manipulator kinematics
4overview of parallel manipulator kinematics
5Rotation matrix and homogeneous transformation matrix
6Position analysis of serial robot manipulators
7Position analysis of parallel robot manipulators
8Jacobien matrix
9Application of Jacobien matrix
10Overview of singularities in mechanisms
11Singularity in serial manipulators
12Singularity in parallel manipulators
13Midterm exam
14Applications
15Overview
16Final exam
Recommended or Required Reading
1. Lung-Wen Tsai, Robot Analysis, N.Y. John Willey and sons, 1999 2. Rasim Alizade, Serial and Parallel manipulator analysis, lecture notes, 2005
Planned Learning Activities and Teaching Methods
Assessment Methods and Criteria
Term (or Year) Learning ActivitiesQuantityWeight
SUM0
End Of Term (or Year) Learning ActivitiesQuantityWeight
SUM0
SUM0
Language of Instruction
Turkish
Work Placement(s)
None
Workload Calculation
ActivitiesNumberTime (hours)Total Work Load (hours)
Midterm Examination122
Final Examination122
Attending Lectures14342
Self Study148112
Individual Study for Mid term Examination13030
Individual Study for Final Examination13737
TOTAL WORKLOAD (hours)225
Contribution of Learning Outcomes to Programme Outcomes
PO
1
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2
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3
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4
PO
5
PO
6
PO
7
PO
8
PO
9
PO
10
PO
11
PO
12
PO
13
PO
14
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* Contribution Level : 1 Very low 2 Low 3 Medium 4 High 5 Very High
 
Ege University, Bornova - İzmir / TURKEY • Phone: +90 232 311 10 10 • e-mail: intrec@mail.ege.edu.tr