# Welcome to the Robotics Lab WebPage

Spring 2019/2020

• ### Lab Assistant

Office: EE215

• ### 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

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

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

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

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.

• ### 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

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.