• Assignments
• Copies of Lecture Slides
• Textbook
• Assessment
• Links to Policies and Regulations

Assignments

Assignement problems from the textbook will be posted here.

Completed assignments should be submitted using UVic's Brightspace site by 6pm the date they are due.
Watch an example of assignment submission.

Solutions to the assignments will be posted here.

Assignment #1 (Due Monday, Jan 20) :

Questions 2.2, 2.3, 2.4, 2.5 and 2.12 (where in 2.12 the matrix given is T A->B instead of T B->A as given in the text book).

For the questions in pdf format, Click here.
For the solution in pdf format, Click here.

Assignment #2 (Due Saturday,January 25) :

Questions 2.27, 2.42 and Matlab exercise 2B (Parts a and b).

For the questions in pdf format, Click here.
For the solution in pdf format, Click here.

Assignment #3 (REVISED: Due Thursday, Feb. 6) :

• 1. Question 3.3 from textbook.

  2. Question 3.17 from the textbook., show the frames and the DH parameters

  3. Compute the Link transformation matrices for Example 3.3 in the textbook (and B12 in slides) using the DH parameter as discussed for this Example
  and are presented also in Figure 3.8 in the textbook.
  

  4. Write a Matlab program which computes the forward-pose for the example in 3 (3.3 in the texbook) for the set of the 3 joint angles. Calculate the following input cases:
  [theta1, theta2, theta3]=[0,0,0] ; [theta1, theta2, theta3]=[90,90,90]

Assignment #4 (Due Thursday, Feb. 20) :

• Questions 3.29, 4.4, 4.11 from the textbook.

  Write a Matlab program which computes the forward kinematics of the Labvolt 5250 for given angles theta1 to theta5 (i.e. Question 2.4.1 in lab #2).

Assignment #5 (Due Saturday, March 1) :

Questions 4.9, 4.16 from the textbook.
For the solution in pdf format, Click here.

Assignment #6 (Due Sunday, March 16) :

Questions 5.2, 5.11, 5.16, 5.18 and 5.29 from the textbook.
For the solution in pdf format, Click here.

Assignment #7 (Due Tuesday, March 25):

Questions 5.27, 5.30 and 6.8 from the textbook.
For the solution in pdf format, Click here.

Assignment #8 (Due Tuesday, April 1):

Questions 9.1, 9.5, 9.21, 10.2 and 10.5 from the textbook.
For the solution in pdf format Click here.

Copies of Lecture Slides

Course Lecture Notes

Unless otherwise noted, all course materials supplied to students in this course have been prepared by the instructor and are intended for use in this course only. These materials are NOT to be re-circulated digitally, whether by email or by uploading or copying to websites, or to others not enrolled in this course. Violation of this policy may in some cases constitute a breach of academic integrity as defined in the UVic Calendar.

Copies of lecture slides (in pdf format) are available here for downloading: ECE426.pdf

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Textbook

1. Required

	Title	: Introduction to Robotics, 4th Edition
	Author	: John Craig
	Publisher	: Pearson Education
	Year	: 2018, 4th Edition

Useful Links

• IEEE Robotics webpage

Course Assessment

	Assignments	: 5%
	Labs	: 15%
	Mid-term	: 25% Monday, March 3
	Final	: 55%

NOTE: Failure to complete all laboratory requirements will result in an N grade for the course.

The final grade obtained from the above marking scheme for the purpose of GPA calculation will be based on the percentage-to-grade point conversion table as listed in the current Undergraduate Calendar.

Assignment of E grade and supplemental examination for this course will be at the discretion of the Course Instructor. More information and links to the detailed policies can be found in the course outline.

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Links to Policies and Regulations

General Information on Policies and Regulations can be found in the Course Outline.

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