ME 449 Robotic Manipulation

Spring Quarter 2014

• Instructor: Prof. Kevin Lynch
• Office hours: TBD
• Meeting: 11-11:50 MWF, Tech LG68
• course website: http://hades.mech.northwestern.edu/index.php/ME_449_Robotic_Manipulation

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)

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

Archive

• ME 449 Spring 2012