BISON ACADEMY

Courses taught in the

Department of Electrical and Computer Engineering

North Dakota State University

ECE 494: Independent Study (Robotics)

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Summer, 2022

Please submit homework sets on BlackBoard when completed

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Instructor: Jacob Glower
Text: Robot Manipulators (Paul) / Control of Robot Manipulators (Sciavicco) / Intro to Robotics (Craig)

Class	Topic	Video YouTube Playlist	Code	Homework
	holiday	0: Syllabus
1	Introduction & Matlab Review	1: Matlab Review	Bouncing Ball Shoot	No homework #1
2	Rotation Matrices	2: Rotation Matrices	Display3D Rotate	HW #2
3	Translation Matrices	3: Translation Matrices	Translate	HW #3
4	Forward Kinematics	4: Forward Kinematics	Transform RRRv1 RRPv1	HW #4
5	Forward Kinematics (continued)
6	Inverse Kinematics for a Rhino Robot	5: Rhino Robot	Rhino InverseRhino	HW #5
7	Inverse Kinematics for a Puma Robot	6: Puma Robot	Puma InversePuma	HW #6
8	Path Planning	7: Path Planning	Derivative Spline	HW #7
9	Robot Programming	8: Programming	MoveTo.m CircleXY.m ArcXY.m	HW #8 2-day assignment
	Holiday
10	Robot Programming (continued)
11	Dynamics: LaGrangian Formulation	9: LaGrangian Dynamics	Ball	HW #9
12	Dynamics of a 2-Link Arm	10: 2-Link Dynamics	RR_Dynamics FreeFall	HW #10
13	Control of a 2-Link Robot	11: 2-Link Control	InverseRR RR_Control Spline1	HW #11
14	Position Control with Gears	12: Position Control	RR_Gears Step2	HW #12
15	Jacobians and XY Control	13: Jacobians	RR_XY_Control RR	HW #13
16	Contact Forces	14: Contact Forces	Force_Control	Break from homework
17	Impact Forces	15: Impact Forces	RR_Wall_Control	HW #15
18	Wrap Up