Department of Electrical and Computer Engineering
ECE 426 (1 1/2) Robotics
Syllabus:
Structure and specification of robot manipulators. Homogenous transformations. Link description. Manipulator kinematics. Inverse manipulator kinematics. Velocity and static forces in manipulators. An introduction to manipulator dynamics. Linear control of robot motion. Model-based nonlinear control of robot manipulators.
(Prerequisite: ECE 360 or ELEC360; and ENGR 141 or MECH 245; and PHYS 110 or PHYS 122)
Click here for the Course Outline document.
Office Hours:
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Days | : Mondays and Thursdays
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Time | : 1:00 - 2:00pm
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Location | : On line
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- 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 (Revised: Due Wednesday, Jan 26) :
For the questions in pdf format, Click here.
For the solution in pdf format, Click here.
Assignment #2 (Due Tuesday, February 1) :
For the questions in pdf format, Click here.
For the solution in pdf format, Click here.
Assignment #3 (REVISED: Due Friday, Feb. 11) :
Questions 3.3, 3.17 and Programing question 3 from the textbook.
Compute the kinematic equations for example 3.3 in the textbook.
For the solution in pdf format, Click here.
Assignment #4 (Due Friday, Feb. 18) :
Questions 3.29, 4.4, 4.11;
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).
For the solution in pdf format, Click here.
Assignment #5 (Due Wednesday, March 16) :
Questions 4.9, 4.16 and 5.2 from the textbook.
For the solution in pdf format, Click here.
Assignment #6 (Due Wednesday, March 23) :
Questions 5.11, 5.16, 5.18 and 5.29 from the textbook.
For the solution in pdf format, Click here.
Assignment #7 (Due Thursday, March 31):
Questions 5.27, 5.30 and 6.8 from the textbook.
For the solution in pdf format, Click here.
Assignment #8 (Due Thursday, April 7):
Questions 9.1, 9.5, 9.21, 10.2 and 10.5 from the textbook.
For the solution in pdf format Click here.
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) will be available here for downloading.
1. Required |
Title | : Introduction to Robotics, 4th Edition
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Author | : John Craig
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Publisher | : Pearson Education
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Year | : 2018, 4th Edition
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Assignments | : 5%
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Labs | : 15%
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Mid-term | : 25% Thursday, March 3
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Final | : 55%
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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.
Information and links to the detailed policies can be found in the course outline.
The University of Victoria is commited to promoting, providing and
protecting a positive, supportive and safe learning and working
enviromrnt for all its members.
More information and links to the detailed policies can be found in the course outline.
You are advised to read the Faculty of Engineering Standards for
Professional Behaviour which
contains important information regarding conduct in courses, in labs and in the general use of facilities.
More information and links to the detailed policies can be found in the course outline.
Continuously modified: January-April, 2022.