ME 449 Robotic Manipulation

From Mech
Revision as of 06:38, 23 October 2015 by Lynch (talk | contribs) (→‎Assignments)
Jump to navigationJump to search

Fall Quarter 2015

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.

How to obtain Matlab

Assignments

Instructions for uploading assignments to Canvas: 0. Upload on time! Late submissions are not accepted. The cutoff time is at the beginning of class on the day the assignment is due. 1. Only upload one zip file or rar file for each assignment; 2. In each zip file or rar file, include all source codes in their original form, such as .cpp, .m, .py, .nb. It will make our life much easier if the files are in their original format, instead of a pdf version of all codes; 3. If there is a demo test, combine the screen shots into one pdf file, and include it in the zip file (or rar file). 4. Please name the codes by their corresponding problem numbers. 5. Please name the upload file in the following format: LastName_FirstName.zip.

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