Difference between revisions of "ME 449 Robotic Manipulation"
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==Approximate Syllabus== |
==Approximate Syllabus== |
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''' |
'''Configuration Space''' |
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'''Rigid-Body Motions''' |
'''Rigid-Body Motions''' |
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'''Forward Kinematics |
'''Forward Kinematics''' |
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''' |
'''Velocity Kinematics and Statics''' |
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'''Inverse Kinematics |
'''Inverse Kinematics''' |
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'''Kinematics of Closed Chains''' |
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'''Dynamics of Open Chains''' |
'''Dynamics of Open Chains''' |
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'''Trajectory |
'''Trajectory Generation''' |
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'''Motion Planning |
'''Motion Planning''' |
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'''Robot Control''' |
'''Robot Control''' |
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''' |
'''Grasping and Manipulation''' |
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'''Contact Modeling and Manipulation''' |
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==Archive== |
==Archive== |
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Revision as of 08:55, 31 March 2014
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. These course notes will be undergoing revision throughout the quarter; check the timestamp in the table of contents.
Assignments
Final Project
Approximate Syllabus
Configuration Space
Rigid-Body Motions
Forward Kinematics
Velocity Kinematics and Statics
Inverse Kinematics
Kinematics of Closed Chains
Dynamics of Open Chains
Trajectory Generation
Motion Planning
Robot Control
Grasping and Manipulation
