National University of Singapore
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.

Prahlad Vadakkepat: Notes

Video recordings - Sem 1, AY2010

Video - Lecture on 2 Sep 2009 - Chapter 3 (Kinematics of Velocity) - about 2 hrs 45 mins

Syllabus

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)
Example = Inverse Kinematics of Position for a 2-DOF planar robot


Chapter 3: Robot Kinematics of Velocity . Solutions.

Velocity Transformations Example

Quizzes

Quiz 1 17 Sept 2021 (Chapters 1-4), Solutions

Quiz 1.1 - 28 Aug 2017 (Chapter 1)
Quiz 1.2 - 20 Sept 2017 (Chapters 2-4)


Past Quizzes and Examinations

Quiz 1.1 - 31 Aug 2016 (Chapter 1)

Quiz 1.2 - 14 Sept 2016 (Chapters 1 and 2)

ME4245 Quiz 1 - 9 Sept 2015
ME4245 Quiz 2 - 24 Oct 2015

ME4245 Quiz 1.2 + Solutions - 13 Oct 2014
ME4245E Quiz 1.2+Solutions (DH Convention) - 3 Oct 2014
ME4245 Quiz 1.1 + Solutions (Pos/Orientation + DH convention) - 1 Sept 2014
ME4245E Quiz 1.1 + Solutions (Position/Orientation) - 29 Aug 2014
ME4245 Quiz 1 + solutions (26 Aug 2013)
ME4245 Quiz 2 + solutions (16 Oct 2013)
ME4245-quiz1-1-2012-09-10
ME4245E-Quiz1-2-2012-09-19
ME4245E-quiz1-1-2012-08-29
ME4245 Quiz 1-2 2012-10-01
ME4245E-Quiz2-2011-10-25-answer
ME4245E-quiz1-ans-2011-09-21
ME4245 Quiz 1.1 (Position and Orientation Definition) - 01 Sept 2010
ME4245E Quiz 1.1 (Positon and Orientation Definition) - 31 Aug 2010
ME4245/ME4245E Quiz 1.2 (Roboti Kinematics of Position) - sept 2010
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
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 AY07

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