Department of Mechanical Engineering
Faculty of Engineering
ME 4245/ME4245E: Robotic Kinematics,
Dynamics and Control
Overview: (Learning Objectives, What
you will Learn, etc)
Lecturers:
Dr. Marcelo H. Ang Jr.,
Department of Mechanical Engineering, E3A-04-09, 6516-2555, mpeangh@nus.edu.sg
Dr. Prahlad Vadakkepat, Department
of Electrical & Computer Engineering, E4-08-19, 6516-2296, elepv@nus.edu.sg
Notes:
Marcelo Ang: Chap 0 (Introduction); Chap
1, Chap2, Chap 3, Chap 4.
Video - Lecture on 2 Sep 2009 - Chapter 3 (Kinematics of Velocity) - about 2 hrs 45 mins
Assessment/Passing Requirements:
2 Quizzes (30 %)
Final Exam (70%)
Laboratory Experiment (must successfully complete)
(All quizzes and final examination are open book/notes.)
Exercises (Please try them out first, before referring to solutions.)
Chapter 1 : Position and
Orientation Definitions. Solutions.
Chapter 2: Robot Kinematics of Position (solutions
are available below)
Chapter 3: Robot Kinematics of Velocity
. Solutions.
Quizzes
Quiz 1 (Position and Orientation Definition) and solutions, Aug 2009
Quiz 2 (Frame Assignment, DH, Kinematics of Position and Velocity, Statics) and solutions, Sept 2009
Past Quizzes and Examinations
Quiz 1 and solutions: 25 Aug 2008
ME4245 Quiz 2 and solutions: 10 Sept 2008
ME4245E Quiz 2 and solutions: 15 Sept 2008
Quiz 1 and solutions: 27 Aug 2007
Quiz 2 and solutions: 19
Sept 2007
Supplementary Quiz
Quiz 1 and Solutions: 6 Sept 2006
Quiz 2 and Solutions: 20 Sept
2006
Quiz 1 and Solutions, 24 Aug 2004
Quiz
1, 22 Sept 2003. Solutions.
Quiz 1, 2000/2001
Quiz
1, 99/2000
Quiz 1 - Btech -98/99
Quiz 1 -98/99
Quiz 2 -98/99
Quiz - 94/95
Quiz - 96/97
Quiz 1 - 97/98
Final Exam - 94/95
Final Exam - 95/96
Supplementary Exam - 95/96
Final Exam - 96/97
Supplementary Exam - 96/97
Final Exam - 1st Semester, 98/99
Final Exam - 2nd Semester, 98/99
Final Exam - 1st Semester, 1999/2000, Solutions
Solutions to Quiz 1, 2000/2001
Solutions to Quiz 1, 99/2000
Solutions to Drill Problem Set 2 - Coordinate Frames on
Robot; Inverse Kinematics
Solutions
to Quiz 1 - 98/99
Solutions
to Quiz 2 - 98/99