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6.141/16.415 - RSS Labs Bldg 33, Neumann Hangar Bldg 33, Gelb Lab 6.141/16.415 - RSS Lab Rules Lab Staffing Schedule Guide to Subversion use in RSS Lab Handout: Engineering Meta-Tools Lab 1: 8 Feb 2008 - Robot and Development Perspective and Schematics and PCB Layout Handouts: 1A - Lab Procedure 1B - RSS Robot and Development System block diagram 1C - ORCboard layout 4 pages: front, back and ORCpad front and back - 1D - ORCboard parts list 1E - ORCboard schematic 1F - Agilent Scope How-To 1G - Lab Checkoff sheet. (Only 1 per group is needed.) Lab Kit Fully Assembled ORCboard Lab 2: 11 Feb 2008 - Motor Characterization and Control Handouts: 2-A: Motor Characterization and Control Lab Procedure 2-B: Reference Guide to Subversion Source Control 2-C: Motor Control System Overview Diagram 2-D: Motor Control Lab Block Diagram 2-E: Motor Control Lab Rig Layout 2-F: Motor Specification Sheet (available on course web site) 2-G: Shaft Encoder Specification Sheet (available on course web site) 2-H: Battery Safety Tips Lab Kit Students Having Fun Constructed Rig Lab 3: 19 Feb 2008 - Robot Chassis and Simple Commanded Motions Handouts: 3-A: Robot Chassis and Simple Commanded Motions Procedure Lab Kit Completed Rig (pic from Spr05) Lab 4: 25 Feb 2008 - Light Sensors and Braitenberg Behaviors Handouts: 4-A: Light Sensors and Braitenberg Behaviors Procedure 4-B: Text - Braitenberg Vehicles Lab Kit (partial) Photocell/Sensor Wiring (full size) Lab 5: 3 Mar 2008 - The Carmen Robot Control Package, and an Example Application: Visual Servoing Handouts: 5-A: The Carmen Robot Control Package, and an Example Application: Visual Servoing Procedure 5-B: Guide to the Use of the Carmen Mobile Robot Control Package Within RSS The Carmen Robot Control Package : Visual Servoing Javadoc pages QuickCam Assembly Vision Screen Capture Lab 6: 10 Mar 2008 - Local Navigation and Error Analysis Handouts: 6-A: Local Navigation and Error Analysis Procedure Bump Sensor Sonar Sensor Lab 7: 19 Mar 2008 - Motion Planning and Global Navigation Handouts: 7-A: Motion Planning and Global Navigation Procedure Map Example Path Example Lab 8: 02 Apr 2008 - Grasping and Object Transport Handouts: Handout 8-A: Grasping and Object Transport Procedure Handout 8-B: Robotic Arm Assembly Instructions Handout 8-C: Sharp IS471F Datasheet Handout 8-D: Breakbeam Sensor Wiring Diagram robot with arm arm components