BISON ACADEMY

Courses taught in the

Department of Electrical and Computer Engineering

North Dakota State University

 

ECE 494: Independent Study (Robotics)


Summer, 2022

Please submit homework sets on BlackBoard when completed


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