University of California,
Santa Barbara
Department of Electrical and Computer Engineering
Robot Dynamics and Control
Lab Materials
| ECE194D Homepage | Homework | Lecture Materials | Laboratories |
Lab Group A meets 10am-1pm Friday. Lab Group B meets 3pm-6pm Friday.
The tentative lab schedule will involve
weekly assignments for weeks 1 through 7 and open lab hours for a Final Project during the last
3 weeks of class.
Labs 3, 5, and 7 will each include a contest, for fun and inspiration. The winning lab group for each contest will receive a $25 coupon for amazon.com.
| Week | Lab # | Date | Lab nickname | Handouts and Downloadable Files for Lab | ||
| 1 | 1 | April 1 | Intro: Data logging and visualization | Prelab 1 Files for Lab 1: usb_log.mdl, USBLog.m Lab 1 Mission Statement | ||
| 2 | 2 | April 8 | Motor Sys ID and SISO Control | Prelab 2 Files for Lab 2: Lab 2 Mission Statement. | ||
| 3 | 3 | April 15 | 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 Report due Wed., April 20, at 5pm. Contest re-run tentatively on Thur., April 21. | ||
| 4 | 4 | April 22 | Omnidirectional Car | Prelab 4 Files for Lab 4: Lab 4 Mission Statement, smooth_trajectory_example.m, BluetoothLog.m, BluetoothRead.m. inter_embedded_fn_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 |
Post-lab 4 Report (data analysis on accuracy of in-lab omnibot runs) due Wed., April 27, at 5pm.
||
| 5 | 5 | April 29 | 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!) | ||
| 6 | 6 | May 6 | Inverted Pendulum (IP) Robot | Files for Lab 6: Lab6_mission.pdf,
BluetoothLogFG.m,
USBLogFG.m Segway_lab6_template.mdl, Segway_InitVars_lab6.m Example code to derive Eqns of Motion: fulldiff.m, twolink_eom.m (Other code to run the two-link simulation from class: twolink_ani.m, twolink_ode.m, twolink_run.m) | ||
| 7 | 7 | May 13 | IP Motion Control Contest | Files for Lab 7: Lab7_mission.pdf | ||
| 8 | "P" | Open Hrs | Final Project: Week 1 of 3. | - | ||
| 9 | "P" | Open Hrs | Final Project: Week 2 of 3. | - | ||
| 10 | "P" | Open Hrs | Final Project: Week 3 of 3. | - | ||
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Last Updated: May 13, 2011