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[Modeling, Design and Control of Robotic Mechanisms]
Lecture Note Summary (ppt format)
Ch1: Analysis and MATLAB Practice of Planar Robots ¡Þ Position analysis and MATLAB practice ¡Þ Velocity and statics analysis and MATLAB practice ¡Þ Dynamics analysis and MATLAB practice Ch2: SimMechanics Simulation Practice ¡Þ Forward dynamics simulation practice of a 2-DOF serial robot ¡Þ Inverse dynamics simulation of planar robots Ch3: Control Practice of Planar Robots ¡Þ Introduction to xPC Target and speedgoat controller ¡Þ Development of robot manipulators and controllers ¡Þ Control practice (hardware tests, DC motor control, trajectory control) ¡Þ How to use Arduino Mega 2560 ¡Þ Input/output interface program ¡Þ Position control of DC motors (AX-12W) ¡Þ 2-DOF robot arm control project (AX-12A) ¡Þ Walking robot project using Arduino Mega 2560 ¡Þ 2-DOF haptic device project
[Attachments] ¡Þ Robot Drawings (in Korean) ¡Þ Movie Clips ¡Þ Robot Arm: 2-DOF, 3-DOF, 5-bar, PKM, 3-DOF PKM, Haptics, Plotter ¡Þ SimMechanics: Robot Arm, WR w/ 6-bar Legs, WR w/ 8-bar Legs, ¡Þ Arduino Projects: On/off, Analog, DC_motor, PID_con, Robot_Arm ¡Þ Walking Robot Prototype: Ver1, Ver2 ¡Þ Lab Projects: Stewart Platform, Repeatability, Motion1, Motion2, Haptics, FT_sensor, Delta_PKM <updated on Jan. 27, 2014> |
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