Difference between revisions of "ME 449 Robotic Manipulation"

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* 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 (classes 1-2)


'''Rigid-Body Motions''' (classes 3-6)
'''Rigid-Body Motions''' (classes 3-6), through Fri April 11
* rotation matrices, Euler angles, exponential coordinates, unit quaternions
* rotation matrices, Euler angles, exponential coordinates, unit quaternions
* angular velocities
* angular velocities
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* spatial velocities
* spatial velocities


'''Forward Kinematics'''
'''Forward Kinematics''', through Wed April 16
* product of exponentials formula (classes 7-8)
* product of exponentials formula (classes 7-8)


'''Velocity Kinematics and Statics'''
'''Velocity Kinematics and Statics''', through Fri April 25
* coordinate, space, and body Jacobians (classes 9-10)
* coordinate, space, and body Jacobians (classes 9-10)
* statics of open chains, singularities, manipulability (classes 11-12)
* statics of open chains, singularities, manipulability (classes 11-12)


'''Inverse Kinematics'''
'''Inverse Kinematics''', through Wed April 30
* 2R example, numerical methods, and redundant open chains (classes 13-14)
* 2R example, numerical methods, and redundant open chains (classes 13-14)


'''Dynamics of Open Chains'''
'''Dynamics of Open Chains''', through Fri May 9
* Lagrangian formulation, dynamics of a single rigid body (classes 15-16)
* Lagrangian formulation, dynamics of a single rigid body (classes 15-16)
* inverse and forward dynamics of open chains, dynamics in task space (classes 17-18)
* inverse and forward dynamics of open chains, dynamics in task space (classes 17-18)


'''Trajectory Generation'''
'''Trajectory Generation''', through Wed May 14
* definitions and time-optimal time scaling (classes 19-20)
* definitions and time-optimal time scaling (classes 19-20)


'''Motion Planning'''
'''Motion Planning''', through Fri May 23
* overview, foundations, and complete path planners (classes 20-21)
* overview, foundations, and complete path planners (classes 21-22)
* grid methods and the RRT sampling method (classes 22-23)
* grid methods and the RRT sampling method (classes 23-24)


'''Robot Control'''
'''Robot Control'''


'''Grasping and Manipulation'''
'''Grasping and Manipulation''', through Fri June 6
* contact kinematics and planar graphical methods (classes 24-25)
* contact kinematics, planar graphical methods, and form closure (classes 25-26)
* form closure (class 26)
* contact forces, planar graphical methods, and force closure (classes 27-28)
* contact forces, planar graphical methods, and force closure (classes 27-28)
* other manipulation (classes 29-30)
* other manipulation (classes 29-30)

Revision as of 20:41, 1 April 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 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.

Assignments

Final Project

Approximate Syllabus

Configuration Space

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

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

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

Forward Kinematics, through Wed April 16

  • product of exponentials formula (classes 7-8)

Velocity Kinematics and Statics, through Fri April 25

  • coordinate, space, and body Jacobians (classes 9-10)
  • statics of open chains, singularities, manipulability (classes 11-12)

Inverse Kinematics, through Wed April 30

  • 2R example, numerical methods, and redundant open chains (classes 13-14)

Dynamics of Open Chains, through Fri May 9

  • Lagrangian formulation, dynamics of a single rigid body (classes 15-16)
  • inverse and forward dynamics of open chains, dynamics in task space (classes 17-18)

Trajectory Generation, through Wed May 14

  • definitions and time-optimal time scaling (classes 19-20)

Motion Planning, through Fri May 23

  • overview, foundations, and complete path planners (classes 21-22)
  • grid methods and the RRT sampling method (classes 23-24)

Robot Control

Grasping and Manipulation, through Fri June 6

  • contact kinematics, planar graphical methods, and form closure (classes 25-26)
  • contact forces, planar graphical methods, and force closure (classes 27-28)
  • other manipulation (classes 29-30)

Archive

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