ME 449 Robotic Manipulation

Spring Quarter 2014

• Instructor: Prof. Kevin Lynch
• Office hours: Mon 3-4 PM, Wed 4-5 PM, Tech B222, Adam: Tuesday 6/10 11am, Tech B230
• 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 student lectures, 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.

Summary of important equations.

Assignments

• Assignment 1, due Monday 4/14 at the beginning of class Solutions
• Assignment 2, due Monday 4/28 at the beginning of class Solutions
• Assignment 3, due Monday 5/12 at the beginning of class Solutions
• Assignment 4, due Wednesday 5/21 at the beginning of class Solutions Last Problem Additional Solution
• Assignment 5, due Friday 5/30 at the beginning of class Solutions
• Assignment 6, due Friday 6/11 at 11 AM. This assignment refers to the IROS 2005 paper by Srinivasa et al.

Approximate Syllabus

Student videos are due at least 48 hours before the first class they will be used for.

Configuration Space

reading: Chapter 2

• degrees of freedom, Grubler's formula, parameterizations, holonomic and nonholonomic constraints (classes 1-2)

Rigid-Body Motions (classes 3-6), through Fri April 11

reading: Chapter 3, but you may skim/skip 3.2.2, 3.2.4

• rotation matrices, Euler angles, exponential coordinates, unit quaternions
• angular velocities
• rigid-body motions
• spatial velocities

Forward Kinematics, through Wed April 16

reading: Chapter 4, but you may skim/skip 4.1 and 4.2.3

• product of exponentials formula (class 7; Patrick Afrifah and Matthew Patrick)
  • Intro to Product of Exponentials
  • Intro 2 (Talking about alternative form of Product of Exponentials)
  • An example of product of exponentials
  • Another example

Velocity Kinematics and Statics, through Wed April 23

reading: Chapter 5

• coordinate, space, and body Jacobians (classes 8-9)
• statics of open chains, singularities, manipulability (classes 10-11; Kevin Siegler and Andrew Welter)
  • Spatial forces
  • Jacobian and joint torques
  • Singularities
  • A second singularity example
  • Manipulability ellipsoid

Inverse Kinematics, through Mon April 28

reading: Chapter 6, but you may skip 6.1

• 2R example, numerical methods, and redundant open chains (classes 12-13)

Dynamics of Open Chains, through Wed May 7

reading: Chapter 8.1 and 8.2 on Lagrangian formulation, rest of the chapter on Newton-Euler and task space coords

• Lagrangian formulation, dynamics of a single rigid body (classes 14-15; Harry Briggs and Stefan Hyde)
  • Dynamics of a rigid body in the body frame
  • Dynamics of a rigid body in the space frame
  • Lagrangian dynamics
  • Lagrangian dynamics: 2R example part 1
  • Lagrangian dynamics: 2R example part 2
• Newton-Euler inverse and forward dynamics of open chains, dynamics in task space (classes 16-17; Ahalya Prabhakar and Ben Richardson)
  • Newton-Euler Inverse Dynamics, Part 1/3
  • Newton-Euler Inverse Dynamics, Part 2/3
  • Newton-Euler Inverse Dynamics, Part 3/3
  • Forward Dynamics of Open Chains
  • Dynamics in Task Space Coordinates

Trajectory Generation, through Mon May 12

reading: Chapter 9, but you may skip 9.2 and 9.3

• definitions and time-optimal time scaling (classes 18-19; Wentao Chen and Chi Zhang)
  • Trajectory generation: definition
  • Time-optimal time-scaling
  • (s, sdot) phase plane
  • Time-optimal time-scaling algorithm
  • Assumptions and caveats

Motion Planning, through Wed May 21

reading: Chapter 10 through 10.5.1

• overview, foundations, and complete path planners (classes 20-21; Siddarth Jain)
  • Motion planning overview
  • Types of motion planning
  • Configuration-space obstacles
  • Graphs and trees
  • The search problem, heuristics and A* overview
  • A* search

• grid methods and the RRT sampling method (classes 22-23)

Robot Control

optional: Chapter 11

Grasping and Manipulation, through Fri June 6

reading: Chapter 12

• contact kinematics, planar graphical methods, and form closure (classes 24-25)

• contact forces, planar graphical methods, and force closure, Chapter 12.2 (classes 26-27; Xiang Chen and Xiaobin Xiong)
  • Contact forces
  • The friction cone
  • Wrench cones
  • Moment labeling for systems of planar forces
  • Force closure
  • A condition for force closure of a rigid body

• other manipulation, Chapter 12.3 (classes 28-29; Max Shepherd and Zack Woodruff)
  • Other manipulation
  • Block balance example
  • Meter stick example
  • Arch example
  • Peg-in-hole example

Archive

• ME 449 Spring 2012