Difference between revisions of "ME 449 Robotic Manipulation"

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'''Spring Quarter 2014'''
'''Fall Quarter 2014'''


* Instructor: Prof. Kevin Lynch
* Instructor: Prof. Kevin Lynch
* Office hours: TBD
* 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
* Meeting: 12:30-1:50 TTh, Tech LG68
* course website: http://hades.mech.northwestern.edu/index.php/ME_449_Robotic_Manipulation
* course website: http://hades.mech.northwestern.edu/index.php/ME_449_Robotic_Manipulation


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==Grading==
==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.
Grading for the course will be based on problem sets and a final project. There will be no exams.


==Course Text==
==Course Text==
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==Assignments==
==Assignments==

* [[Media:ME449-2014-hw1.pdf|Assignment 1]], due Monday 4/14 at the beginning of class [[Media:ME449_2014_Solns_HW1.pdf|Solutions]]
* [[Media:ME449-2014-hw2.pdf|Assignment 2]], due Monday 4/28 at the beginning of class [[Media:ME449_2014_Solns_HW2.pdf|Solutions]]
* [[Media:ME449-2014-hw3.pdf|Assignment 3]], due Monday 5/12 at the beginning of class [[Media:ME449_2014_Solns_HW3.pdf|Solutions]]
* [[Media:ME449-2014-hw4.pdf|Assignment 4]], due Wednesday 5/21 at the beginning of class [[Media:ME449_2014_Solns_HW4.pdf|Solutions]] [[Media:ME449_2014_Solns_Last_Problem.zip|Last Problem Additional Solution]]
* [[Media:ME449-2014-hw5.pdf|Assignment 5]], due Friday 5/30 at the beginning of class [[Media:ME449_2014_Solns_HW5.pdf|Solutions]]
* [[Media:ME449-2014-hw6.pdf|Assignment 6]], due Friday 6/11 at 11 AM. This assignment refers to the [[Media:ME449-2014-srinivasa-IROS2005.pdf|IROS 2005 paper by Srinivasa et al.]] [[Media:ME449_2014_Solns_HW6.pdf|Solutions]]


==Approximate Syllabus==
==Approximate Syllabus==

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


'''Configuration Space'''
'''Configuration Space'''


reading: Chapter 2
reading: Chapter 2
* degrees of freedom, Grubler's formula, parameterizations, holonomic and nonholonomic constraints (classes 1-2)
* degrees of freedom, Grubler's formula, parameterizations, holonomic and nonholonomic constraints


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


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


'''Forward Kinematics''', through Wed April 16
'''Forward Kinematics'''


reading: Chapter 4, but you may skim/skip 4.1 and 4.2.3
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)
* product of exponentials formula
** [https://www.youtube.com/watch?v=_AyCzxO07P8&feature=youtu.be Intro to Product of Exponentials]
** [https://www.youtube.com/watch?v=fMj0mTJHi74&feature=youtu.be Intro 2 (Talking about alternative form of Product of Exponentials)]
** [https://www.youtube.com/watch?v=Kwl0OonLm9E&feature=youtu.be An example of product of exponentials]
** [https://www.youtube.com/watch?v=DLJKv2IPNWc Another example]


'''Velocity Kinematics and Statics''', through Wed April 23
'''Velocity Kinematics and Statics'''


reading: Chapter 5
reading: Chapter 5
* coordinate, space, and body Jacobians (classes 8-9)
* coordinate, space, and body Jacobians
* statics of open chains, singularities, manipulability (classes 10-11; Kevin Siegler and Andrew Welter)
* statics of open chains, singularities, manipulability
** [https://www.youtube.com/watch?v=oVZcmeAOe5k&feature=youtu.be Spatial forces]
** [https://www.youtube.com/watch?v=PDjR1Zbq0Iw&feature=youtu.be Jacobian and joint torques]
** [https://www.youtube.com/watch?v=ckVp4z_AikM&feature=youtu.be Singularities]
** [https://www.youtube.com/watch?v=ZCIgWCGuEGM&feature=youtu.be A second singularity example]
** [https://www.youtube.com/watch?v=oDAfuscBXdc&feature=youtu.be Manipulability ellipsoid]


'''Inverse Kinematics''', through Mon April 28
'''Inverse Kinematics'''


reading: Chapter 6, but you may skip 6.1
reading: Chapter 6, but you may skip 6.1
* 2R example, numerical methods, and redundant open chains (classes 12-13)
* 2R example, numerical methods, and redundant open chains


'''Dynamics of Open Chains''', through Wed May 7
'''Dynamics of Open Chains'''


reading: Chapter 8.1 and 8.2 on Lagrangian formulation, rest of the chapter on Newton-Euler and task space coords
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)
* Lagrangian formulation, dynamics of a single rigid body
* Newton-Euler inverse and forward dynamics of open chains, dynamics in task space
** [https://www.youtube.com/watch?v=opKvyzq-WzA&feature=youtu.be Dynamics of a rigid body in the body frame]
** [https://www.youtube.com/watch?v=DNSxaQJqOHs&feature=youtu.be Dynamics of a rigid body in the space frame]
** [https://www.youtube.com/watch?v=fLEJtElwfd8 Lagrangian dynamics]
** [https://www.youtube.com/watch?v=IUTUgVG9DDY Lagrangian dynamics: 2R example part 1]
** [https://www.youtube.com/watch?v=AEChG8BtfOY 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)
** [http://youtu.be/7Qg45A8AXbk Newton-Euler Inverse Dynamics, Part 1/3]
** [http://youtu.be/CTvJUfhVjhI Newton-Euler Inverse Dynamics, Part 2/3]
** [http://youtu.be/8BtVH2ZzM9s Newton-Euler Inverse Dynamics, Part 3/3]
** [http://youtu.be/xJU8yNuBcdc Forward Dynamics of Open Chains]
** [http://youtu.be/3a5SN7G6ipY Dynamics in Task Space Coordinates]


'''Trajectory Generation''', through Mon May 12
'''Trajectory Generation'''


reading: Chapter 9, but you may skip 9.2 and 9.3
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)
* definitions and time-optimal time scaling
** [http://www.youtube.com/watch?v=WzRJh-Xd0yo&feature=youtu.be#userconsent# Trajectory generation: definition]
** [http://www.youtube.com/watch?v=ZRJQhRoILnE&feature=youtu.be#userconsent# Time-optimal time-scaling]
** [https://www.youtube.com/watch?v=mPyIeWVBL88 (s, sdot) phase plane]
** [https://www.youtube.com/watch?v=llZUtyO7ULY Time-optimal time-scaling algorithm]
** [https://www.youtube.com/watch?v=Nqu_PMyZjcQ Assumptions and caveats]


'''Motion Planning''', through Wed May 21
'''Motion Planning'''


reading: Chapter 10 through 10.5.1
reading: Chapter 10 through 10.5.1
* overview, foundations, and complete path planners (classes 20-21; Siddarth Jain)
* overview, foundations, and complete path planners
* grid methods and the RRT sampling method
** [http://youtu.be/DqExgvhLuvw Motion planning overview]
** [http://youtu.be/yWpUjoLOEr4 Types of motion planning]
** [http://youtu.be/KdQicahSJYI Configuration-space obstacles]
** [http://youtu.be/LKp8gR1C5qI Graphs and trees]
** [http://youtu.be/qsZB41VO4UU The search problem, heuristics and A* overview]
** [http://youtu.be/gQDGJl1p6Eo A* search]

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


'''Robot Control'''
'''Robot Control'''
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optional: Chapter 11
optional: Chapter 11


'''Grasping and Manipulation''', through Fri June 6
'''Grasping and Manipulation'''


reading: Chapter 12
reading: Chapter 12
* contact kinematics, planar graphical methods, and form closure (classes 24-25)
* contact kinematics, planar graphical methods, and form closure
* contact forces, planar graphical methods, and force closure, Chapter 12.2

* other manipulation, Chapter 12.3
* contact forces, planar graphical methods, and force closure, Chapter 12.2 (classes 26-27; Xiang Chen and Xiaobin Xiong)
** [http://youtu.be/akC7GjYMr5g Contact forces]
** [http://youtu.be/h0PTT7K7emE The friction cone]
** [http://youtu.be/2wthJvwAXkU Wrench cones]
** [http://youtu.be/aGEBi-yHOZ8 Moment labeling for systems of planar forces]
** [http://youtu.be/nRWcjGy8NUg Force closure]
** [http://youtu.be/yeB57L1kaxA A condition for force closure of a rigid body]

* other manipulation, Chapter 12.3 (classes 28-29; Max Shepherd and Zack Woodruff)
** [http://youtu.be/SmrfKaEJaIQ Other manipulation]
** [http://youtu.be/u7yqipd0kMo Block balance example]
** [http://youtu.be/bD9WNG0lqEI Meter stick example]
** [http://youtu.be/jHhLUPiyuEw Arch example]
** [http://youtu.be/lHx-Upu_fIU Peg-in-hole example]


==Archive==
==Archive==

Revision as of 12:49, 22 September 2014

Fall 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.

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

Approximate Syllabus

Configuration Space

reading: Chapter 2

  • degrees of freedom, Grubler's formula, parameterizations, holonomic and nonholonomic constraints

Rigid-Body Motions

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

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

  • product of exponentials formula

Velocity Kinematics and Statics

reading: Chapter 5

  • coordinate, space, and body Jacobians
  • statics of open chains, singularities, manipulability

Inverse Kinematics

reading: Chapter 6, but you may skip 6.1

  • 2R example, numerical methods, and redundant open chains

Dynamics of Open Chains

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
  • Newton-Euler inverse and forward dynamics of open chains, dynamics in task space

Trajectory Generation

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

  • definitions and time-optimal time scaling

Motion Planning

reading: Chapter 10 through 10.5.1

  • overview, foundations, and complete path planners
  • grid methods and the RRT sampling method

Robot Control

optional: Chapter 11

Grasping and Manipulation

reading: Chapter 12

  • contact kinematics, planar graphical methods, and form closure
  • contact forces, planar graphical methods, and force closure, Chapter 12.2
  • other manipulation, Chapter 12.3

Archive