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Pracs / Laboratories:

• Lab 3: Robotic Systems:  Change. The Future
  • Laboratory Guide (PDF)
  • Mini Maestro 12-Channel USB Servo Controller User's Guide [Cached Manual]
  • SpringRC SM-S4303R Continuous Rotation Servo [Cached Datasheet]
  • Aaron Snoswell's Handy maestrocontrol for MATLAB scripts (on GitHub)
  • Lab 3 Demonstration Signup Form
  • Pictures from Demonstration Days (Oct 24, 30, and 31)  (Google + Version)
  • Select Videos from Demonstation (YouTube)

• Lab 2: On The Money
  • Laboratory Guide (PDF)
  • Team Sign Up Form (Teams of two please)
  • Tutor File Cache (Kinect capture tools, etc.)
  • Sample frames with calibration fiducials for camera localisation and calibration:
    • Caltag
    • reacTIVision tag
  • Lab 2 Demonstration Signup Form

• Lab 1:  EZ-PZ: Einfach Punkt in der Zeit (Easy Points Just in Time)
  • Laboratory Guide: -- PDF Version
  • Christopher Ham's Quick Start Condensed Setup Guide
  • Individual Report Guide
  • Pictures from Lab 1 Demo Day
    
    

Tutorials:

1. Week 2: Tutorial 1: Getting Started with the Robotics Toolbox
   
   
2. Week 3: Tutorial 2: Homogenous Transforms
   • Tutorial 2 Solutions and Commentary
     
     
3. Week 4: Tutorial 3: Forward Kinematics and Denavit–Hartenberg parameters
   • Tutorial 3: Solutions
     
     
4. Week 5: Tutorial 4: Robot Arm Dynamics
   • Tutorial 4: Solutions
     
     
5. Week 6: Lab 1 Q & A
   & Tutorial 5 Handout: Robot Arm Torques and Trajectories
   • Tutorial 5: Solutions
     
     
6. Week 7: Tutorial 6: Image Formation and Sensing
   • Sample Images: (1) canny_edges  (2) chess_circles  and   (3) transformed_circles   (► all in one zip)
   • Tutorial 6: Solutions and associated Matlab code (thank you Aaron!)
     
     
7. Week 8: Tutorial 7:  Camera Calibration
   • Calibration Checkerboard Pattern
   • Sample Images (as movie):  (zip) -- (avi 10 fps)  --  (avi 30 fps)
   • Solution
     
     
8. Week 9: Tutorial 8: Image Features
   • Image files and framework code (tutorial8.zip)
   • Solution
     
     
9. Weeks 10-11:  Labs 2 Q&A 
   
   
10. Weeks 12-13: Cart-Pole Inverted Pendulum (State-Space)
    • Sample Script
      

Guides:

• 3D Frame Template
• Point Targeting (Lab 1) Pictures from 2012
• RoboCola (Lab 3) Pictures from 2012
• Khatib and Kolarov, Introduction to Robotics, Chapter 4 (Jacobian), Chapter 5 (Dynamics), and Chapter 6 (Trajectory Generation) 
•  B. Friedland, Control System Design: An Introduction to State-Space Methods: Sections 2.4-2.6, Sections 6.1-6.2, Sections 9.1-9.7)
• UQ ITEE Peer Assessment Form

Please refer comments & questions to: metr4202@itee.uq.edu.au

© 2013, Robotics Design Lab at The University of Queensland
This work is licensed under a Creative Commons License (BY-NC-SA)