ME 449 Robotic Manipulation

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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

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 (classes 7-8; Afrifah and Patrick)

Velocity Kinematics and Statics, through Fri April 25

reading: Chapter 5

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

Inverse Kinematics, through Wed April 30

reading: Chapter 6, but you may skip 6.1

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

Dynamics of Open Chains, through Fri May 9

reading: Chapter 8.1 and 8.5 on Lagrangian formulation, rest of the chapter on Newton-Euler and task space coords

  • Lagrangian formulation, dynamics of a single rigid body (classes 15-16; Briggs and Hyde)
  • Newton-Euler inverse and forward dynamics of open chains, dynamics in task space (classes 17-18; Prabhakar and Richardson)

Trajectory Generation, through Wed May 14

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

  • definitions and time-optimal time scaling (classes 19-20; W. Chen and Zhang)

Motion Planning, through Fri May 23

reading: Chapter 10 through 10.5.1

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

Robot Control

optional: Chapter 11

Grasping and Manipulation, through Fri June 6

reading: Chapter 12

  • contact kinematics, planar graphical methods, and form closure (classes 25-26)
  • contact forces, planar graphical methods, and force closure (classes 27-28; X. Chen and Xiong)
  • other manipulation (classes 29-30; Shepherd and Woodruff)

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