Beskjeder
The curriculum has now been updated to list specifically which chapters that are part of the curriculum, and which are excluded. See full list here.
I have sent a list of student that qualify for taking the exam in the course. Please verify that your name if on the list, if you are planning to take the exam.
There will be no ordinary lecture on Tuesday 28th of November. Magnus and Kim will be available in the basement of the ITS building for assistance with the project. Remember that the project is due that day.
For code and setup guides for mandatory assignment 3 have a look at our git repositories at
https://github.uio.no/UNIK4490
Also for the groups doing the motion control assignment. Right now only the forward kinematics is out. Later we will publish the Jacobian and limited dynamics of the robot (only gravity). So I would advise to implement a PD controller with gravity compensation. Either in joint space or operational space.
If you have not found a group you can e-mail me to be assigned to a group.
The time schedule for assistance with the project is updated for next week. Week 47 and 48 will be updated later.
Now exercise 1e is updated, so it now specifies desired acceleration instead of position.
It is a typo in equation (10.80) in the textbook. The first term should be 0.5 q_dot^T B(q) q_dot.
Please fill in the doodle as soon as possible. Please select all days that you may have an exam (with green), only other exams are a valid reason to not select a date (i.e. mark it red). If a date is inconvenient for you select yellow (can-if-need-be).
https://doodle.com/poll/p2fduy944g6e2ykg
Deadline: 26.10.2017
The next lecture (10th of Oct.) will be a practical introduction to ROS. Bring your laptop. The lecture will be more like a workshop than a traditional lecture.
Since I have been unavailable while you have been working with the first mandatory assignment I have extended the deadline one week. Then we will have time for questions about the assignment on the lecture the 17th of October. I will also go through parts of the assignment that lecture.
In equation (2) I wrote U(s) as a function of R(s) (reference input), but should be the error E(s) = R(s) - X(s) for the controller to be an feedback controller. The pdf is now updated.
I have updated the first assignment based on feedback from some students
- In Exercise 1 equation (2) did not have a reference input
- In Exercise 2 equation (4) a minus sign was removed before x
- In Exercise 3a and 3d the text was slightly changed. Both exercises are mainly selecting the correct controller from the textbook.
The first mandatory assignment is now available. It is due the 12th of October.
Lecture videos can be found at video.unik.no/UNIK4490-KM/.
Forelesningen 12. sept. er avlyst pga. at jeg skal p? tjenestereise.
Hadde noe problemer med Adobe Acrobat, s? noen slides m?tte skrives ut og scannes inn. Skal laste opp ny versjon n?r problemet er l?st.
Har adgangsbegrenset filene. Si i fra hvis dere ikke f?r tilgang.