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ECE 761:  Advanced Controls / Robotics

1st-Term Summer 2017

 

 

 

Instructor:        Jake Glower 

Office              ECE 201A

Phone:             701x231x8068

Email               jacob_glower@yahoo.com

Office Hours   t.b.d.

Class Time      t.b.d.

TA:                  t.b.d.


 

Date

Topic

Code

Video

Homework

M

May 16

holiday

 

 

 

T

May 17

Introduction & Matrix Algebra

Bouncing Ball

Shoot

Shoot Game

HW #1

W

May 18

Rotation Matrices

Display3D

Rotation Matricies

HW #2

R

May 29

Translation Matrices

Reference Frames

Translation

Transform.m

RRR.m

Translation Matricies

HW #3

F

May 30

Forward Kinematics of a PPP, PRR Robot

( may 29 cont’d )

 

 

HW #4

M

May 23

Forward Kinematics:   2-Link Arm

PRR.m

PRR Robot

HW #5

T

May 24

Forward Kinematics of a Puma Robot

RRR.m

RRR2.m

InverseRRR.m

RRR_Simulation.m

RRR Robot

HW #6

W

May 25

Inverse Kinematics

RRP2.m

2-Link Arm.txt

Inverse Kimematics for an RRR Robot

HW #7

R

May 26

Path Planning

 

HW #8

F

May 27

Robot Programming

Dogwood

MoveTo.m

CircleXY.m

ArcXY.m

Drawing a Dogwood Flower with an RRR Robot

Continue with HW #8

M

May 30

Holiday

 

 

 

T

May 31

Dynamics:  LaGrangian Formulation

Ball

Dynamic Simulation of a Ball in a Parabolic Bowl

HW #9

W

Jun 1

Dynamics of a 2-Link Arm

2-Link

2-LinkDynamics

 

HW #10

R

Jun 2

Servo Motors Control

hyperterminal

 

HW #11

F

Jun 3

DC Motor Control

 

 

HW #12

M

Jun 6

Servo Control of a Robot with Gears

RRMove

RR

InverseRR

Step3

TwoLink

 

HW #13

T

Jun 7

Current Control of a 2-Link Robot

RR (new)

RR Dynamics

RR Move (new)

RR_PD_Control

RR in Freefall (v)

RR with PD Control (v)

 

HW #14

W

Jun 8

Jacobians and Cartesian Control

RR_XY_Control

RR with Cartesian Control (v)

 

HW #15

R

Jun 9

Jacobians and Force Control

TwoLinkForceControl

 

HW #16

F

Jun 10

Impact Forces

RR_XY_Force_Control

RR_XY_Force_Control2

RR_XY_Force_Control3

 

HW #17