# ME 449 Robotic Manipulation

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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.

## 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