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The Exam from 2009 with solution is now available under "Exams". There you will also find the trial exam from last year.
On the exam on May 31st you will be allowed to bring "Robot Modeling and Control", "Matematisk Formelsamling" (any edition) by Karl Rottman and an Approved Calculator
I've uploaded a new version of Compulsory Exercise 3 to those of you that want to use a model with simpler robot parts. This also includes a matlab function for getting the approximate position of the pen back into matlab. Just run "readFromMax.m" whenever you want to know the three positions (in centimeters).
EDIT: I've tested the new model at the ROBIN lab, and the communication back to matlab works fine.
Those of you that are interested in reading more about the chicken robot can have a look at Lena Garders master's thesis . The implementation of genetic algorithms starts at page 21, and the program source code is at pages 93-110.
Sorry for falling behind on keeping the detailed teaching plan up to date. The lecture today will be in Lille Aud.
We have uploaded a new text to Compulsory exercise 3 The errors in the assignment are corrected here, and all changes are marked in yellow.
There are two errors in compulsory exercise 3.
1) The second joint in the simulation is not following the DH-convention. You should compensate this with an offset of 90 degrees to theta 2.
2) The center position of the drawing board is at position x=45, y=0 z=20. Depending on how you have chosen to orient the base frame, the position could also be one of these: (-45, 0, 20), (0, 45, 20), (0, -45, 20). Just fiddle around with the model, and you will figure out which one matches your inverse kinematics function.
It is possible to run matlab via remote desktop and the simulation on your own computer.
You have to be on the university network (log on via vpn if you are working at home).
Edit the file "activateAnimation.m" so that the ip-addresses point to your ip-address.
Your firewall must allow Max/MSP/Jitter to receive udp-packets at ports 7701-7703.
If this doesn't work on windows remote desktop, you can try running matlab remotely on a linux computer.
Compulsory Exercise 3 is now available. This is due on May 3rd.
The download includes a simulation of the robot, and a few matlab files.
Suggestions to exercises from chapters 5 and 6:
5.17, 5.18, 5.19,
6.1, 6.2, 6.3, 6.4, 6.5
The deadline for resubmitting compulsory exercise 2 will be on monday April 26th. All of you will get notification on your results from Vegard by tomorrow.
The upcoming lecture (April 22nd) will be held at the robotics lab in veglaboratoriet , 3rd floor.
Since the coming Monday is a holiday, Vegard's group session is moved to Tuesday, April 6th, at 14-16.
Meet at the regular room, (if it's occupided you'll go from there to find something else).
Some relevant exercises from chapter 7:
7.7, 7.8 and 7.9.
Compulsory Exercise 2 is now online. The submission deadline is April 12th.
There will not be a lecture tomorrow (March 18th). We suggest you spend the time preparing for compulsory exercise 2 which will be handed out on March 25th. A good preparation could be having a look at Matlab, and repeating the syllabus from chapters 2-4.
We recommend the following assignments on velocity kinematics: 4.15, 4.16, 4.17, 4.18, 4.19, 4.20
Compulsory Exercise 1 is now available. This is due on Monday, March 8th.
Assignments to inverse kinematics (inverse kinematics will be covered in the lecture on this thursday):
3.11, 3.12, 3.13 and 3.14
We also suggest that you have a look at 3.10 (not inverse kinematics).
A video explaining Denavit-Hartenberg may be downloaded here
Sorry for being late with this, but for the last part of chapter 2, the recommended assignments are 2.37 - 2.41
We recommend the following assignments from chapter 3:
3.6, 3.7, 3.8 (linked with 3.6) and 3.9 (linked with 3.7)
You now have to login with your UiO username and password to access the lecture slides and the solutions to the weekly assignments.