Lectures (PowerPoint):
[ Mon 30 July 2007 ]
Scilab Scripts - Nonlinear Simulation | Robust Inverse Dynamic Control | Adaptive Control
| Assignment 1 | Due Fri 17 Aug 2007 | 2-1, 2-2, 2-3, 2-4, 2-5, 2-23, 2-39, 3-2, 3-5, 3-17 |
| Assignment 2 | Due Fri 31 Aug 2007 | 4-3, 4-13, 4-16, 4-20, 6-1, 6-17, 7-3, 7-7, 7-8 |
| Assignment 3 | Due Fri 21 Sept 2007 | 8-4, 8-12, 10.5 |
| Assignment 4 | Due Fri 19 Oct 2007 | Project |
| Class Test | Mon 8 Oct 2007 | 6:10-8:00pm |
Design a six-degrees-of-freedom robot. It can be a serial-link or parallel actuated robot or any other fancy configuration you can think of. With an application in mind choose appropriate link lengths and actuators. List relevant parameters of all components in your robot.
For the designed robot work out its kinematics, inverse kinematics, velocity kinematics, dynamic model, and a control scheme. The control scheme can include path planning in it. You can use the robotics toolbox to do any or all the tasks.
The assessment weighting for postgraduate students is: Assignment 1, 2, 3, and 4 are 10% each; robot design 30%; Class Test 30%. Class Test will be of two and a half hour duration.
The robot design assignment is due Fri 9 November 2007.
Robotics Toolbox for Matlab This is a local copy of the package from Robotics Toolbox for Matlab. That site is maintained by the author of this package, Peter Cork of the CSIRO, Australia. His site also has links to other public domain software for robotics.
World Robotics 2004 - United Nations Economic Commission for Europe Report