BISON ACADEMY

 

ECE 761: Robotics

Syllabus - Summer 2019

 


Instructor: Jacob Glower
MTWRF 8-10:30am ECE 237

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

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Students can also attend class 6-8:30pm (a second time slot for students who have full-time jobs)

Both sessions follow the same schedule.

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Undergraduates can take ECE 761 as an ECE Technical Elective by filling out the following form:
https://www.ndsu.edu/fileadmin/registrar/forms/dualgrcourses.pdf


 

Date

Topic

Code

Video

Homework

M

May 13

holiday

 

 

 

Tu

May 14

Introduction & Matrix Algebra

Bouncing Ball

Shoot

Shoot Game

HW #1

W

May 15

Rotation Matrices

Display3D

Rotation Matricies

HW #2

Th

May 16

Translation Matrices

Translation

Translation Matricies

HW #3

F

May 17

Forward Kinematics

Transform.m

RRR.m

 

HW #4

M

May 20

Forward Kinematics (cont’d)

finish homework #4

Tu

May 21

Inverse Kinematics for a Rhino Robot

Rhino.m

InverseRhino.m

Rhino_Test.m

Rhino_Square.m

Rhino_Ball.m

RRR Robot

HW #5

W

May 22

Inverse Kinematics for a Puma Robot

Puma.m

InversePuma.m

Inverse Kimematics for an RRR Robot

HW #6

Th

May 23

Path Planning

Derivative.m

 

HW #7

F

May 24

Robot Programming

Dogwood

MoveTo.m

CircleXY.m

ArcXY.m

Drawing a Dogwood Flower with an RRR Robot

HW #8

M

May 27

Holiday

 

 

 

Tu

May 28

Robot Programming (cont’d)

Finish homework #8

W

May 29

Dynamics: LaGrangian Formulation

Ball

Dynamic Simulation of a Ball in a Parabolic Bowl

HW #9

Th

May 30

Dynamics of a 2-Link Arm

RR_Freefall

RR_Dynamics

RR in Freefall (v)

HW #10

F

May 31

Control of a 2-Link Arm

RR Control

InverseRR

RR

RR with PD Control (v)

HW #11

M

June 3

Jacobians and XY Control

RR_XY_Control

RR with Cartesian Control (v)

HW #12

Tu

June 4

Contact Forces

Force Control

 

HW #13

W

June 5

Impact Forces

RR_Wall_Control

RR_Wall_Control

 

HW #14

Th

June 6

Dynamics of a DC Servo Motor

Tach.c

Tach.hex

PIC_Flash_Tool.exe

 

HW #15

Position Control of a DC Servo Motor

Angle.c

Angle.hex

 

HW #16

F

June 7

Speed Control of a DC Servo Motor

Speed.c

Speed.hex

 

HW #17

Digital Control of a DC Servo Motor

Digital.C