Last Taught: Fall 2011-2012
Instructor: Billur Barshan
Office: EE-404
Office Hours: Fridays 13:40-15:30
Tel: 290-2161 or x2161
e-mail: billur AT ee.bilkent.edu.tr

Teaching Assistants:
Samet Guler, Office: EE-410, Tel: 290-1456/1462, e-mail: guler@ee.bilkent.edu.tr
Course Objectives: ( pdf format)

Prerequisite:
introductory courses on linear algebra and differential equations and physics (e.g. MATH 225, PHYS 102)

Credit Units: 3

Course Outline:

1. Robot Arms (Manipulators)
   • robot arm kinematics
     -forward manipulator kinematics
     (joints, actuators, degrees of freedom, rigid body transformations, translation, rotation, scaling transformations, composite transformations, center of rotation, Euler angles, homogeneous coordinates and transformations, composite homogeneous transformation matrix; links, joints and their parameters, Denavit-Hartenberg representation, arm matrix)
     -inverse manipulator kinematics
     (methods of solution: numerical, closed-form; workspace; 6-DOF manipulator solution)
     velocity kinematics and the Jacobian
   • robot arm dynamics
     forward and inverse dynamics
     equations of motion
     equivalent formulations:
     Lagrange-Euler formulation
     Newton-Euler formulation
     Generalized d'Alambert formulation
     
   • planning of manipulator trajectories
     (knot points, bounded deviations method, cubic spline trajectory)
2. Mobile Robots
   • map building
   • path planning
   • navigation
   • obstacle avoidance
3. Sensing Systems
   • Range Sensing
     time-of-flight (ultrasonic, laser-based)
     triangulation (stereo disparity, active triangulation, active stereoscopic)
     structured light
     known target size
     optical flow
   • Proximity Sensing
     (magnetic, capacitive, ultrasonic, optical, microwave)
   • Tactile (Touch) Sensing
     (binary sensors, analog sensors, tactile feelers, tactile bumpers, distributed surface arrays)
   • Force and Torque Sensing
     elements of a wrist sensor
     resolving forces and moments
     sensor calibration
   • Dead Reckoning
     odometry
     Doppler sensors
     inertial navigation systems (INS)
   • Heading Sensors
     gyroscopes
     geomagnetic sensors
     active beacons
     sensors for map-based positioning

     Grading:
     midterm exam (35%), final exam (40%), pop quizzes (15%), homework (10%).

     There will be an ORAL make-up exam a few days after the final exam if you have an officially approved excuse for make-up.

     Late homework policy: We take off 20 pts for each day the homework is late. We do not accept late homework more than three days after the deadline. Day count includes weekends and holidays.

     Textbook:
     Robot Modeling and Control, M. W. Spong, S. Hutchinson, and M. Vidyasagar, John Wiley, 2006.
     

     Reference Books:
     Introduction to Robotics, Analysis, Systems, Applications, S. B. Niku, Prentice Hall, 2001.
     ROBOTICS: Control, Sensing, Vision, and Intelligence, K. S. Fu, R. C. Gonzalez, C. S. G. Lee, McGraw-Hill, 1987. (Chapters 1-4 and 6).
     Navigating Mobile Robots: Systems and Techniques, J. Borenstein, H. R. Everett, L. Feng, AK Peters, 1996.
     Sensors for Mobile Robots, H. R. Everett, AK Peters, 1995.
     Introduction to Robotics: Mechanics and Control, J. J. Craig, Addison-Wesley, 1989.
     Introductory Robotics, J. M. Selig, Prentice Hall, 1992.
     Fundamentals of Robotics: Analysis and Control, R. J. Schilling, Prentice Hall, 1990.
     Robot Manipulators, R. Paul, MIT Press, 1981.
     Robot Motion, M. Brady et al., MIT Press, 1983.
     Robot Tactile Sensing, R. A. Russell, Prentice Hall, 1990.
     Robot Vision, B. K. P. Horn, The MIT Press, 1987.

     Reference Journals and Magazines:
     IEEE Transactions on Robotics (previously IEEE Transactions on Robotics and Automation).
     IEEE Transactions on Systems, Man, and Cybernetics.
     IEEE Transactions on Pattern Analysis and Machine Intelligence.
     IEEE Transactions on Automatic Control.
     International Journal of Robotics Research.
     International Journal of Robotics & Automation. (IAESTED)
     Journal of Intelligent & Robotic Systems. (Kluwer Academic)
     Journal of Robotic Systems. (Wiley)
     Autonomous Robots.
     The Industrial Robot.
     Robotics World.
     Robotics Today.
     The Robotics Review. (MIT Press)
     IEEE Spectrum.