Introduction to Robotics Laboratory
Welcome to the Robotics Lab WebPage
Spring 2019/2020
Topic outline
- Introduction to Robotics Laboratory
- Lab Assistant
Lab Assistant
The first Lab Session will commence on Tuesday 25/02/2020
Lab Group Sheet for EENG 428 Laboratory- Spring 2020
Lab Group - Spring 2020 File 14.2KB Excel spreadsheet Uploaded 25/02/20, 11:03
Grading Policy
- 15% of the whole course grade is dedicated to this lab.
- The lab grade is as follows:
10% Lab Homework, Assignments and Quizzes 5% Attendance and Robot Assembly Project - Attendance is compulsory and no makeup will be held.
- A student needs to pass the lab, in order to pass the course.
The latest Version of the Course Text Book
https://drive.google.com/file/d/1kN4MS4U3AIYWIrnQZH5Hu7afVI9l7ZfJ/view
The latest Version of the Petercorke Robotics Toolbox
https://drive.google.com/file/d/1pJ1ndiCux4FIb-pkU6guCAK7RgYSLRpI/view?usp=sharing
Tutorial #1 File 413.2KB PDF document Uploaded 8/04/19, 21:57
- Lab.Sheet 1: review on linear algebra and matrix analysis
Lab.Sheet 1: review on linear algebra and matrix analysis
Objective
In this Lab session, a review on linear algebra and matrix analysis is presented and described with the assist of the Matlab program to serve the purpose of this course.
You can download the lab sheet from here.
- Lab.Sheet 2: symbolic Matlab
Lab.Sheet 2: symbolic Matlab
Objective
This Session aims to explore the usage of symbolic Matlab in order to simplify the robotic analysis.
You can download the lab sheet from here.
- Lab.Sheet 3: forward and inverse kinematic problem
Lab.Sheet 3: forward and inverse kinematic problem
Objective
In this Lab session, mathematical derivation examples for forward and inverse kinematic problems in simple coordinate systems are to be discussed with the assistance of the Matlab program to serve the purpose of this session.
You can download the lab sheet from here.
- Lab.Sheet 4: Denavit-Hartenberg Representation
Lab.Sheet 4: Denavit-Hartenberg Representation
Objective
In this Lab session, Denavit-Hartenberg Representation of forwarding Kinematic Equations for Robots is to be discussed with the assistance of the Matlab program to serve the purpose of this session.
You can download the lab sheet from here.
- Lab.Sheet 5: Modeling of Serial manipulator using D-H Convention
Lab.Sheet 5: Modeling of Serial manipulator using D-H Convention
In this Lab session, Examples demonstrate the utility of Denavit-Hartenberg Representation to solve the Forward Kinematic Equations for the serial manipulators. Matlab program will be used to serve the purpose of this session.
You can download this session Here
- Lab. Sheet 6: Velocity Analysis
Lab. Sheet 6: Velocity Analysis
In this session, modeling fundamental matrices representing differential motion for robotic manipulators using Matlab is to be introduced.
you can find the lab sheet Here
- Lab.Sheet 7: Trajectory Planning
Lab.Sheet 7: Trajectory Planning
Objective:
Path and trajectory planning relates to the way a robot is moved from one location to another in a controlled manner. In this Lab session the concept of path and trajectory will be discussed in task-space and joint-space. Matlab will be used in this session in order to provide a practical example to serve the purpose of this session.
- Lab Sheets_Spring 2019
Lab Sheets_Spring 2019