In this paper we describe a laboratory experiment which is part of a laboratory orientated robotics class taken by seniors and first year graduate students. This experiment is designed to introduce students to real-time robot control system hardware and software. The experiment attempts to fortify material covered m an introductory (non laboratory orientated) class on robotics. The issues covered by this experiments include: kinematics, dynamics, robot drive mechanisms, interfacing of sensors and force control aspects. Students were also required to learn many aspects of real time programming for control applications. We document this entire experiment so it may be reorganized and repeated. We discuss educational and research value of this experiment.

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