Computer Science & Software Engineering Robotics (CITS3241)

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Laboratory Work

All laboratories will involve working with MATLAB

Assessment

• A submitted Laboratory Portfolio 40%
• Final Exam 60%

The practical component of the unit is made up of a 'portfolio' of work done for each of the laboratory sheets. Each of the laboratory exercises leads towards the construction of a robotic simulator written in MATLAB. The portfolio will be constructed as a web document and will mainly consist of MATLAB 'm' file listings and plots of graphical output.

Lab Sheets

Labs start in Week 2 (Tuesday March 3). For the first few weeks you will be building up the functional tools that are needed to produce the final robot simulator (and hence will contribute to your final portfolio submission).

A short introduction to Unix if you need this.

• Lab sheet 1: Introducing MATLAB
• Lab sheet 2: Homogeneous Transforms (You should be able to do labsheets 1 and 2 in the first week.)
• Lab sheet 3: Denavit Hartenberg Matrices
• Lab sheet 4: Dressing up your robot with parametric surfaces
• Lab sheet 5: Six Degrees of Freedom
• Lab sheet 6: Trajectories using Bezier Curves
• Lab sheet 7: Jacobian Motion Rate Control
• Lab sheet 8: Rotation about arbitrary axes Now only for bonus marks.
• Lab sheet 9: Jacobian Motion Rate Control - With Orientation Control Now only for bonus marks.

IMPORTANT: the submission requirements have been reduced. See this help3241 post.

The Portfolio Specifications.

Sample Lab Script

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