The Mec.E. 555 Assignment Page, Winter 1996

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Here are the links to all the assignments for this term. Solutions will be made available as indicated.

Assignment #1 - Homogeneous Transformations and DH Parameters

Some practice exercises to gain some familiarity with transforms and basic robot kinematics.
Due Date: 16 February, 12:00 noon
Solution

Assignment #2 - Kinematics of Mitsubishi RM-101

Forward and inverse kinematic analysis of the RM-101.
Due Date: 1 March, 12:00 noon
Solution (lots of equations/figures, links to MATLAB files)

Assignment #3 - Velocity Analysis using the Jacobian

Kinematic analysis of a 3R manipulator involving the relation between joint rates and Cartesian velocity components.
Due Date: 15 March, 12:00 noon (No late assignments accepted!)
Solution (lots of equations/figures, links to MATLAB files)

Assignment #4 - Dynamic Analysis of a 2R Robot

This involves deriving the equations of motion of a simple 2R manipulator, and using these equations in an inverse dynamics problem.
Due Date: 29 March, 12:00 noon (No late assignments accepted!)
Solution (lots of equations/figures, links to MATLAB files)

Term Project

A 4 - week project to investigate a topic of your own choosing. Some suggestions are given here. These range from programming the Mitsubishi RM-101 robots to image processing.
Due Dates: Project proposals 8 March, 12:00 noon, Final Report 12 April, 12:00 noon (last class)

Term Paper

A written assignment to explore issues dealing with social implications of robotics or robot intelligence.
Due Date: 9 April, 12:00 noon