KOC UNIVERSITY 
Department of Mechanical Engineering
MECH 444/544 Robotics


Projects

 


Project I          Due: Dec 01, 2003     Develop the forward and inverse kinematic model of the Phantom 1.0 robot arm.

Project II         Due: Dec, 22, 2003    Plan the motion of a robot arm using the “potential field” approach.   Reading-01, Reading 02, Reading 03 (see the algorithm in page 11)

                                                           Line Intersect Sphere (or Circle) How can I avoid local minima? (read Section 4.5)

                                                           (develop your own Matlab code starting from this file: utility.m)

Project III        Due: Jan 28, 2004      Develop a controller to follow a pre-defined trajectory in 3D space (dynamical_properties.m)