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EL 522 - Sensor-based Robotics

  • Instructor
  • Announcements (Please check this often)
  • Homeworks
  • Syllabus

  • Online edition of the textbook.

  • The Runge-Kutta algorithm for numerical integration



  • Simulation example in MATLAB for a two-link arm f.m sim1.m
    • You need to run sim1.m ... f.m defines the differential equation.


  • Six Degree-of-Freedom Kinematics and Dynamics of a Rigid Body


  • Effect of earth's rotation on the readings of an IMU

  • Quaternion based integration


  • Project


  • Midterm

    • Midterm Statistics: MAX -- 83 ; MIN -- 46 ; AVERAGE -- 69