ECE/ME 179D - Robot Dynamics and Control - LAB

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 Friday, 11am-2pm.
B: Lab Group B meets Monday, 5pm-8pm.

The lab schedule includes 7 weekly assignments.

Labs 3, 5, and 7 will each include a contest, for fun (and small amounts of extra credit).

Week Lab # Dates
(Groups A and B) Lab nickname Handouts and Downloadable Files for Lab

1 1 A:4/6/2012
B:4/9/2012 Intro: Data logging and visualization Files for Lab 1: prelab1.pdf , prelab1_thetas.mat

2 2 A:4/13/2012
B:4/16/2012 Motor Sys ID and SISO Control Files for Lab 2: prelab2_2012.pdf
Lab 2 Mission Statement.

3 3 A:4/20/2012
B:4/23/2012 2-link Arm Control Contest (No Prelab for Lab 3!)
Files for Lab 3: Lab 3 Mission Statement, lab3_basic.mdl.
Lab3_appendix_BSatzinger_data.pdf, trajectory_draw.m, ang2xy.m, xy2ang.m, sim_arm_estimator.m
Brief Lab 3 report due at start of your Lab 4 session.

4 4 A:4/27/2012
B:4/30/2012 Omnidirectional Car Prelab 4 due April 26: prelab4.pdf
Files for Lab 4: Lab 4 Mission Statement, BluetoothLog.m, inter_embedded_fn_example.m, smooth_trajectory_example.m
Here are movies demonstrating typical motion of the omnibot: omnibot.mov, omnibot_square.mov
Example data (for HW 2 debugging): log_example_data_square.mat

5 - A:---
B:--- [no lab this week]

6 5 A:5/11/2012
B:5/14/2012 Car Control Contest Files for Lab 5: Lab 5 Mission Statement,
ellipse_lab5.m, xi2q.m, q2xi.m, draw_omni_lab5.m, omni_params.m (optional!)

7 - A:---
B:--- [no lab this week]

8 - A:---
B:--- [no lab this week]

9 6 A:6/1/2012
B:6/4/2012 Inverted Pendulum (IP) Robot Files for Lab 6: Lab 6 Mission Statement, fulldiff.m, init_template.m, Segway_lab6_template.mdl, make_filters.m,

10 7 A:TBD
B:TBD IP Control Contest

Last Updated: June 4, 2012

Week	Lab #	Dates (Groups A and B)	Lab nickname	Handouts and Downloadable Files for Lab

1	1	A:4/6/2012 B:4/9/2012	Intro: Data logging and visualization	Files for Lab 1: prelab1.pdf , prelab1_thetas.mat
2	2	A:4/13/2012 B:4/16/2012	Motor Sys ID and SISO Control	Files for Lab 2: prelab2_2012.pdf Lab 2 Mission Statement.
3	3	A:4/20/2012 B:4/23/2012	2-link Arm Control Contest	(No Prelab for Lab 3!) Files for Lab 3: Lab 3 Mission Statement, lab3_basic.mdl. Lab3_appendix_BSatzinger_data.pdf, trajectory_draw.m, ang2xy.m, xy2ang.m, sim_arm_estimator.m Brief Lab 3 report due at start of your Lab 4 session.
4	4	A:4/27/2012 B:4/30/2012	Omnidirectional Car	Prelab 4 due April 26: prelab4.pdf Files for Lab 4: Lab 4 Mission Statement, BluetoothLog.m, inter_embedded_fn_example.m, smooth_trajectory_example.m Here are movies demonstrating typical motion of the omnibot: omnibot.mov, omnibot_square.mov Example data (for HW 2 debugging): log_example_data_square.mat
5	-	A:--- B:---	[no lab this week]
6	5	A:5/11/2012 B:5/14/2012	Car Control Contest	Files for Lab 5: Lab 5 Mission Statement, ellipse_lab5.m, xi2q.m, q2xi.m, draw_omni_lab5.m, omni_params.m (optional!)
7	-	A:--- B:---	[no lab this week]
8	-	A:--- B:---	[no lab this week]
9	6	A:6/1/2012 B:6/4/2012	Inverted Pendulum (IP) Robot	Files for Lab 6: Lab 6 Mission Statement, fulldiff.m, init_template.m, Segway_lab6_template.mdl, make_filters.m,
10	7	A:TBD B:TBD	IP Control Contest