Assumptions: This series of adventures is predicated on concurrently taking the ECE4560 course, so that the material being explored maps to lecture and reading material. To complete the adventures, you will naturally need access to the robots themselves as well as some familiarity with object oriented programming in Matlab (e.g., class implementations in Matlab will be coded as part of getting the manipulator to work). Otherwise, it has minimal requirements relative to the other lab options.

Philosophy: Given that this thread was the original laboratory project for the course, it is quite traditional in its setup, tracking for the most part the material of the course. The two manipulators enable exploration of planar manipulations kinematics and spatial/3D manipulation kinematics. Overall, the modules are quite straightforward with completion determined by demonstrating success regarding the associated task. Success is determined by running a script provided at the time of the demo, or by populating and demonstrating the execution of a previously provided code stub.

Companion Code: The code for this thread consists of the manipulator interface and calibration code. In addition the SE2 and SE3 class code will need to be populated as part of the course.

Module Set 0: Getting Started: Calibration!

1. Setup and Calibration
2. Forward Kinematics

Module Set 1: Basic Kinematics

1. Pick N' Place: Repetitive
2. Pick: Inverse Kinematics
3. Pick N' Place: Arbitrary
4. Move Position: Resolved Rate Trajectory Generation
5. Move Configuration: Resolved Rate Trajectory Generation
6. Move Configuration: Splines

Module Set 2: TBD.

Module Set 0: Getting Started, Calibration!

1. Calibration
2. Forward Kinematics

Module Set 1: Basic Kinematics

1. Pick N' Place: Repetitive
2. Pick: Inverse Kinematics
3. Pick N' Place: Arbitrary
4. Move Configuration: Splines
5. Move Position: Resolved Rate Trajectory Generation
6. Move Configuration: Resolved Rate Trajectory Generation

Projects – Main