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PS/Laboratory 3:  Robotics: Around Stumbling Blocks

Specifications

• Laboratory Guide
• Technical Specifications
  • Includes links to drivers/specifications/etc.
  • Windows 10 Dynamixel/Ximea Camera Software Bundle (~400 MB)

Reference Arm Design:

Based on  Heath, a reference METR 4202 ARM design consists of ... [TBA]

Hapalochlaena Link Templates: (Bundle [Zip] Download)

Some parametric link modules (in Autodesk Inventor Part [IPT] format) to help with Arm Design.  (CAD Geometry care of Iain Rudge).

These include:

• Straight Links [IPT | IAM] 
• Rotation Links [IPT | IAM]
• Mounts
  • Base [IPT]
  • Servo [IPT]

For convenience, a collection of "pre-generated STL" files has also been  generated from the above: 

• Length: 80 mm 90 mm 100 mm 110 mm 120 mm 130 mm   + Angle: 0 ° 15 ° 30 ° 45 ° 60 ° 90 °  

  (Please select a length & angle first)

Sign Out Forms & Peer Assessment Factor:

• ⇒ Demonstration Time Sign Up Form
• Dynamixel / Ximea Camera Sign Out Form
• Peer Assessment Factor Form for Lab
  (Please complete one form per team member)

Demonstration Day: Pictures and More!

• Pictures
• Video
• Grading Form

Tutorials:

• Tutorial 1: Week 1 :: Getting Started!
  
  
• Tutorial 2: Week 2 :: Homogenous Transforms
  • (with reading from §2.4 of Multiple View Geometry, 2nd Ed.)
  • Solutions
  • Examples and Key Slides from Lecture 2
    
    
• Tutorial 3: Week 3 :: Forward Kinematics (including DH!)
  • Solutions
  • Supplementary Inverse Kinematics Examples
  • Lectopia Recording
• Tutorials 4: Weeks 4: Torques and Trajectory Generation
  • Solutions
• Tutorial 5: Week 5:  Image Formation and Sensing
  • ⇒ Video (Lectopia) from Prac/Lab Session (August 24)
  • Sample Images: (1) canny_edges  (2) chess_circles  and   (3) transformed_circles   (► all in one zip)
  • Tutorial 7: Solutions and associated Matlab code (thank you Aaron!)
  • Source code Inverse Perspective Mapping C++ (OpenCV) (source code cached)
• Tutorial 6: Week 6 :: Camera Calibration
  • Checkerboard Template (A4)
  • Solutions
  • Calibration Pattern (Chekerboard - Matlab | Circles - OpenCV)
  • Calibration Dance: 10fps (AVI) and 30fps (AVI) and Matlab MAT
  • Calibration Toolbox: Please see Software page
• Tutorial 7: Week  7 :: Image Features and SIFT
  • Tutorial Guide (PDF)
  • Simplified Tutorial Guide (with download links)
  • Sample Images
  • Additional Resources: Image Merging Script  &  Maximum Detector Response Markers for SIFT and SURF (Paper)
  • Sample vl_SIFT Matching Matlab Codes
• Tutorial 8: Week  8 :: 2D Template Tracking (via Iterative algorithms)
  • Prerequisite Reading: §6.1 of Szeliski, Computer Vision: Algorithms and Applications, 2011 -- Chapter 6
  • Tutorial Guide (PDF)
  • Tutorial image files (ZIP)
• Tutorial 9: Week 10:: Robot Motion Planning and Simulation
  • Naive Motion Planning Tutorial
  • Grid Search (A* search) Demo (in MATLAB)  (UQ Cached Code)
  • Virtual Robot Experiment Platform (UQ Cached | Coppelia Robotics )
  • Dr. Kurniawati's COMP 3702 AI: Motion Planning Tutorial (#3)  |  (& Sample Solutions)
  • A* Step-by-Step Example Video (Berkeley CS 188)
• Tutorial 10: Week 11:: Robot Motion Planning and Simulation  
  • Tutorial Guide (Google Doc)  +  Map File (Matlab)
  • Chapter 5 (Navigation) of Robotics, Vision and Control (2nd Edition, pp 125-149).
• Tutorial 11: Week 12::
Planning & Control
• PS-Lab 3 Q & A
• Additionally: Cart-Pole Inverted Pendulum (State-Space)
  • Sample Script (showing State-Space and LQR Control)
• Naive Motion Planning Tutorial

Individual Problem Sets:

• Problem Set 1: Kinematics-To The Point! Guide
• Problem Set 2: Robotics: Shaping the World

Mid-Term Review:

• Mid-Term 2017!
  • Quiz Paper
• Final Exam 2016
  • Exam Paper
• Mid-Term Exam 2015
  • Quiz Paper
  • Quiz Solutions
• (No Final Exam in 2014)
• Final Exam 2013 (24-hour Take Home Exam!)
  • Exam Paper

• 3D Frame Template
• UQ METR Dynamixel Kit (for sale for AU$365 at Tribotix)
• Lego Kit (9797) Parts Checklist
• UQ ITEE Peer Assessment Form
• CRediT taxonomy (Overview)
  
  
  
• 2017: Pictures from PS/Lab 3 (System) | Demonstration Video
• 2016: Pictures from Lab 1 (Kinematics) | Pictures from Lab 2 | Pictures from Lab 3  |  Grade Distrubtions
• 2015: Pictures (Picasa) from Labs 1-3
• 2014: Pictures (Picasa) from 2014 ("Raise the BAR")
• Pictures from Lab 2 ("Glass Half Full") and Lab 1 (Kinematics)
  
• 2013: Pictures (Picasa) & Videos (YouTube) from 2013 ("Change. The Future.")
  
• CHARM Robot explanatory video
• Pictures from Lab 1 Demo Day (2013)

 

 

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

Previous Courses: METR4202/7202 -- 2016  ||  METR4202/7202 -- 2015  ||  METR4202/7202 -- 2014  ||  METR4202/7202 -- 2013  || METR4202/7202 -- 2012
© 2012-2017, Robotics Design Lab at The University of Queensland
This work is licensed under a Creative Commons License (BY-NC-SA)