BISON ACADEMY

Courses taught in the

Department of Electrical and Computer Engineering

North Dakota State University

ECE 494/761: Robotics

Summer 2025

Updated 5/02/25

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Instructor: Jacob Glower

Online Only

Office Hours: 7pm - 8pm, M-F (on zoom)

Contact: jacob.glower@ndsu.edu

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Instructor: Jacob Glower
Further Reference: Robot Manipulators (Paul) / Control of Robot Manipulators (Sciavicco) / Intro to Robotics (Craig)

Class	Topic	Video YouTube Playlist	Code	Homework
1	Course Overview Course Overview Slides Syllabus Slides #0	0: Course Overview - 0: Syllabus
2	1 Matlab Review Slides #1	1: Matlab Review	Bouncing Ball Shoot	No homework #1
3	2 Rotation Matrices Slides #2	2: Rotation Matrices	Display3D Rotate	HW #2
4	3 Translation Matrices Slides #3	3: Translation Matrices	Translate	HW #3
5	4 Forward Kinematics Slides #4	4: Forward Kinematics	RRPv1 RRR3 RRRv1 RRRv2 Transform	HW #4
6	Forward Kinematics (continued)
7	5 Inverse Kinematics for a Rhino Robot Slides #5	5: Rhino Robot	Rhino InverseRhino Rhino Tracing a Square	HW #5
8	6 Inverse Kinematics for a Puma Robot Slides #6	6: Puma Robot	Puma InversePuma Puma Tracing a Square	HW #6
9	7 Path Planning Slides #7	7: Path Planning	Derivative Spline1 Spline3 Spline Triangle	HW #7
10	8 Robot Programming Slides #8	8: Programming	MoveTo CircleXY ArcXY ArcXY2 Example1 Example2 Example3 Example4 Example5	HW #8 2-day assignment
11	Robot Programming (continued)
12	9 LaGrangian Dynamics Slides #9	9: LaGrangian Dynamics	Ball	HW #9
13	10 Dynamics of a 2-Link Arm Slides #10	10: 2-Link Dynamics	RR RR_Dynamics RR_FreeFall	HW #10
14	11 Control of a 2-Link Robot Slides #11	11: 2-Link Control	InverseRR RR_Control RR_PD_Control	HW #11
15	12 Position Control with Gears Slides #12	12: Position Control	RR_Gears Step2	HW #12
16	13 Jacobians and XY Control Slides #13	13: Jacobians	RR_XY_Control	HW #13
17	14 Contact Forces Slides #14	14: Contact Forces	Force_Control RR_XY_Floor_Control	Break from homework
18	15 Impact Forces Slides #15	15: Impact Forces	RR_Wall_Control	HW #15