Difference between revisions of "ME 449 Robotic Manipulation"

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(Created page with "'''Spring Quarter 2014''' * Instructor: Prof. Kevin Lynch * Office hours: TBA * Meeting: 11-11:50 MWF, Tech LG68 * course website: http://hades.mech.northwestern.edu/inde...")
 
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==Course Text==
==Course Text==
''Introduction to Robotics: Mechanics, Planning, and Control'', F. C. Park and K. M. Lynch
"Introduction to Robotics: Mechanics, Planning, and Control," F. C. Park and K. M. Lynch (course notes handed out)


==Assignments==
==Assignments==



==Final Project==
==Final Project==
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==Approximate Syllabus==
==Approximate Syllabus==


'''Mobility, Configuration Space, and Task Space'''


'''KINEMATICS'''
'''Rigid-Body Motions'''

: Representations of motion

: '''Reading''': Mason pp. 1-19, 41-47, 58-60, Chapter 4; Choset chapter 3.5; Murray Li Sastry pp. 19-61 (through Section 4; you can skip Section 2.3 on "Other representations")

:: * degrees of freedom
:: * configuration space
:: * coordinates and constraints, holonomic and nonholonomic
:: * orientation from coordinates of three points minus six constraints; rotation matrix SO(3)
:: * rigid-body positions: SE(3) (other representations include Euler angles, quaternions)
:: * using SE(3) to represent configurations, displace configurations and points, and change frames
:: * velocity and acceleration as time-derivatives of SE(3); skew-symmetric matrix representation
:: * adjoint transformation, changing coordinate frames
:: * body frame and world frame velocity; hybrid velocity
:: * rigid body motion expressed as translation along, and rotation about, an axis; twists and screws; exponential map
:: * planar simplification: SE(2) and se(2) and 3 coordinates; rotation centers (finite motions) and instantaneous centers (velocities)
:: * C-space obstacles (2R robot and planar body); motion planning: potential fields, search trees, kinematic motion planning (depth-first, breadth-first, and best-first planning; NHP; RRT), software packages ([http://www.kavrakilab.org/OOPSMP/index.html OOPSMP] and [http://msl.cs.uiuc.edu/msl/ MSL]); optimization approaches

: Representations of surfaces

:: * piecewise-smooth parametric curves and surfaces: 2D and 3D
:: * differential forms and their relationship to parametric representations: 2D and 3D

: Contact constraints

:: * nth-order conditions for free motion, penetration, roll-slide, and rolling
:: * multiple contacts: partitioning velocities and accelerations according to the constraints; contact modes
:: * polyhedral convex sets (polytopes) and polyhedral convex cones
:: * planar case (Reuleaux's method)
:: * grasping and fixturing: first- and second-order form closure and the number of contacts needed
:: * rolling motion planning
:: * other contact constraint types: point contact with friction, soft-finger (purely kinematic or using wrenches)


'''FORCES'''

: Representations of forces (readings: MLS pp. 61-9, Mason ch 5)

:: * forces and moment; wrenches; lines of action
:: * adjoint transformation and changing frames (derived from coordinate-free power)
:: * combinations of forces and polyhedral convex wrench cones
:: * force closure
:: * planar case: moment labeling and planar force closure; equivalence of first-order form closure and frictionless force closure

: Contact modeling with friction (Mason ch 6)

:: * zero friction, normal force only; multiple contacts; duality of force and motion freedoms
:: * Coulomb friction and duality of force and motion freedoms
:: * grasping and fixturing: force closure; equivalence of first-order form closure and frictionless form closure; number of contacts needed
:: * pyramid approximations and linear programming test for force closure; planar friction cones and moment labeling test for force closure
<!--
:: * principle of maximum dissipation
:: * maximum power inequality and anisotropic friction
-->

: Static and quasistatic manipulation

:: * stability of a frictionless assembly; adding friction
:: * static equilibrium (zero acceleration forces)
:: * wedging and jamming
:: * quasistatic rigid-body mechanics solutions: consistent {motion, wrench} pairs
:: * ambiguity and inconsistency
:: * planar problems: Reuleaux and moment labeling
:: * examples: stability of assembly, pipe clamp, meter stick, toppling (pushing a can), peg-in-hole, etc.

: Planar contact patches, limit surfaces, and pushing (Mason ch 6.6, 7.2, 7.3)

:: * limit surface
:: * pushing


'''Forward Kinematics of Serial Chains'''


'''Differential Kinematics of Open Chains'''
'''MANIPULATOR CONTROL MODELS'''


'''Inverse Kinematics of Open Chains'''
: Motion, force, hybrid, and impedance control models, DOF for each contact, internal forces, kinematic deficiency <!--see Handbook of Robotics or Bicchi paper-->


'''Dynamics of Open Chains'''


'''DYNAMICS'''
'''Trajectory Planning'''


'''Motion Planning with Obstacles'''
:: * rigid-body dynamics, inertia matrix, Newton-Euler equations
:: * solving rigid-body dynamics problems with friction and different manipulator control models
:: * inconsistent specification of controls
:: * complementarity formulations and simulation
:: * examples


'''Robot Control'''


'''IMPACT'''
'''Form and Force Closure'''


'''Contact Modeling and Manipulation'''
:: * Routh-Wang-Mason, Newton, Poisson, and Stronge restitution coefficients
:: * 3D impact

Revision as of 08:56, 28 February 2014

Spring Quarter 2014

Course Summary

Mechanics of robotic manipulation, computer representations and algorithms for manipulation planning, and applications to industrial automation, parts feeding, grasping, fixturing, and assembly.

Grading

Grading for the course will be based on problem sets and a final project. There will be no exams. The final project, due during finals week, will take the form of a conference paper analyzing a manipulation problem, building on another research paper, or implementing a simulation.

Course Text

"Introduction to Robotics: Mechanics, Planning, and Control," F. C. Park and K. M. Lynch (course notes handed out)

Assignments

Final Project

Approximate Syllabus

Mobility, Configuration Space, and Task Space

Rigid-Body Motions

Forward Kinematics of Serial Chains

Differential Kinematics of Open Chains

Inverse Kinematics of Open Chains

Dynamics of Open Chains

Trajectory Planning

Motion Planning with Obstacles

Robot Control

Form and Force Closure

Contact Modeling and Manipulation

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