EE 5325/4315 Homeworks and Exams

Spring 2023

Systems, Controls, and Manufacturing Thrust Area

EE 5325/4315 Homepage

• All homework assignments refer to Spong and Vidyasagar unless otherwise stated.
• For full credit, show all work.
• Some problems require hand calculations. In those cases, do not use MATLAB except to check your answers.

Homework/Exam	Topic	Assigned	Due Date
Hwk 1	Computer simulation, inverse kinematics, jacobian	Feb. 13 Assignment	Feb. 20
Hwk 2	Jacobians, rotations, and robot arm Dynamics	Mar. 1 Assignment	Mar. 9
Hwk 3	Regression Matrix, State-Space Form, and Simulation	Mar. 8 Assignment	Mar. 13
Exam 1		Mar. 27 Assignment	Apr. 7
Hwk 4	Computed-torque robot control	Apr. 12 Assignment	Apr. 19
FINAL EXAM		Apr. 20 Assignment	Apr. 30