University of California,
Santa Barbara
Department of Electrical and Computer Engineering
Department of Mechanical Engineering
Robot Dynamics and Control
Lab Materials
| Course Homepage | Homework | Lecture Materials | Laboratories |
A: Lab Group A meets 4-7pm Monday.
B: Lab Group B meets 6-9pm Wednesday. (Tentative schedule!)
C: Lab Group C meets 7-10pm Monday.
There will be 6 lab sessions.
Labs 2, 4, and 6 will each include a contest, for fun (and small amounts of extra credit).
Laboratory Assignment Turn-in Policy. Unless otherwise stated, homework is due at 5pm (on the date specified), in the Dropbox outside HFH 3120A.
| Week | Lab # | Dates (All Groups) | Lab nickname | Handouts and Downloadable Files for Lab | ||
| 1 | - | N/A | (No Lab This Week.) | |||
| 2 | 1 | A/B/C: 10/8/2012 | Lab 1: Intro: Data Logging and Motor ID |
Files for Pre1ab 1: prelab1.pdf ,
prelab1_thetas.mat,
LawOfCosines.m. Prelab 1 was due: Oct. 5, 2012. Files for Lab 1: lab1_tasks.pdf, ME147D_handout1.pdf, ME147D_handout2.pdf, lab1.mdl, USBLog.m | ||
| 3 | - | N/A | (No Lab This Week.) | |||
| 4 | 2 | A/C: 10/22/2012 B: 10/24/2012 | Lab 2: 2-link Arm Control Contest | No prelab for Lab 2. Files for Lab 2: lab2.pdf, lab2_Fall2012.mdl, build_your_controller.m, BluetoothLog.m, HW2_pongtoss_example_data.pdf, ang2xy.m, xy2ang.m, trajectory_draw.m, Lab 2 Report due Oct. 29. (See Lab 1 and Lab 2 handouts for required data and plots. You are encouraged to keep the write-up concise, so long as data and calculations are clear.) | ||
| 5 | 3 | A/C: 10/29/2012 B: 10/31/2012 | Lab 3: Intro to Omnibot | prelab3.pdf due Oct. 29,
omnibot.MOV, omnibot_square.MOV. Omnibot_Velocity_Kinematics (also linked via Lecture 7 notes) Files for Lab 3: lab3.pdf, lab3_Fall2012.mdl, build_your_controller.m | ||
| 6 | - | N/A | (No Lab This Week. Midterm is Nov. 6, 2012.) | |||
| 7-8 | 4 | A/C: 11/19/2012 B: 11/20/2012 | Lab 4: Omnibot Control Contest | See Problem 1 in Homework 4. This lab uses the same omnibot (and mdl files) used in Lab 3. Files for Lab 4: lab4.pdf Lab 3/4 report due Wed., Nov. 28 at 6pm | ||
| 9 | 4 | A/C: 11/26/2012 B: 11/28/2012 | Lab 5: Inverted Pendulum (IP) Robot | Files for Prelab 5:
prelab5.pdf,
lego_params.m,
sample_lqr.m,
segway_eom.m,
Lecture13and14_withMATLAB.pdf Files for Lab 5: lab5.pdf, lab5_worksheet.pdf | ||
| 10 | 4 | A/C: 12/3/2012 B: 12/5/2012 | Lab 6: IP Robot Control Contest | Files for Lab 6:
lab6.pdf
Lab 5/6 report due Fri., Dec. 7 at 5pm | ||
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Last Updated: December 3, 2012