# ME 449 Robotic Manipulation

**Fall Quarter 2014**

- Instructor: Prof. Kevin Lynch
- Office hours: Tech B221, Tues 4-5 PM, Wed 3:30-4:30 PM
- Meeting: 12:30-1:50 TTh, Tech L221
- course website: http://hades.mech.northwestern.edu/index.php/ME_449_Robotic_Manipulation

## Contents |

## 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

- Assignment 1, due Thursday Oct 9 at the beginning of class (Solutions)
- Assignment 2, due Tuesday Oct 28 at the beginning of class (Solutions)
- Assignment 3, due
**Tuesday Nov 11 at the beginning of class**~~Thursday Nov 6 at the beginning of class~~. Be prepared to do a demo of your numerical inverse kinematics on a mystery manipulator! (Solutions) - Assignment 4, due Thursday Nov 20 at the beginning of class. (Solutions Part 1.),(Solutions Part 2.)
- Assignment 5, due Wednesday Dec 10 at noon; final demos in the classroom at that time

## 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