Difference between revisions of "ME 449 Robotic Manipulation (Archive 2012)"

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* Instructor: Prof. Kevin Lynch
* Instructor: Prof. Kevin Lynch
* Office hours: Tues 11-12 (Vose, LIMS lab), Tues 5-6 (Lynch, B221), Wed 2-3 (Ryu, LIMS lab)
* Meeting: 12:30-1:50, Tues Thurs, LG72
* Meeting: 12:30-1:50, Tues Thurs, LG72
* course website: http://hades.mech.northwestern.edu/index.php/ME_449_Robotic_Manipulation


==Course Summary==
==Course Summary==
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''Mechanics of Robotic Manipulation'', M. T. Mason, MIT Press, Cambridge, MA, 2001, ISBN 0-262-13396-2.
''Mechanics of Robotic Manipulation'', M. T. Mason, MIT Press, Cambridge, MA, 2001, ISBN 0-262-13396-2.


Supplementary material will come from ''Principles of Robot Motion'', H. Choset et al., MIT Press 2005; ''A Mathematical Introduction to Robotic Manipulation'', R. M. Murray, Z. Li, and S. S. Sastry, CRC Press, 1994, ISBN 0-8493-7981-4; Chapter 27 "Contact Modeling and Manipulation," I. Kao, K. Lynch, and J. Burdick, from the Springer ''Handbook of Robotics''; and other sources.
Supplementary material will come from ''Principles of Robot Motion'', H. Choset et al., MIT Press 2005; ''A Mathematical Introduction to Robotic Manipulation'', R. M. Murray, Z. Li, and S. S. Sastry, CRC Press, 1994, ISBN 0-8493-7981-4 ([http://www.cds.caltech.edu/~murray/mlswiki/index.php/First_edition free pdf download]); Chapter 27 "Contact Modeling and Manipulation," I. Kao, K. Lynch, and J. Burdick, from the Springer ''Handbook of Robotics''; and other sources.

==Assignments==

* [[Media:ME449_Asst1_2012.pdf|Assignment 1]]
* [[Media:ME449_Asst2_2012.pdf|Assignment 2]]
* [[Media:ME449_Asst3_2012.pdf|Assignment 3]]

==Final Project==

Find information on the final project [[ME 449 Projects 2012|here]].


==Approximate Syllabus==
==Approximate Syllabus==




''KINEMATICS''
'''KINEMATICS'''

: Representations of motion


: '''Reading''': Mason pp. 1-19, 41-47, 58-60, Chapter 4; Choset chapter 3.5; Murray Li Sastry pp. 19-61 (through Section 4; you can skip Section 2.3 on "Other representations")
Representations of motion


* degrees of freedom
:: * degrees of freedom
* configuration space
:: * configuration space
* coordinates and constraints, holonomic and nonholonomic
:: * coordinates and constraints, holonomic and nonholonomic
* orientation from coordinates of three points minus six constraints; rotation matrix SO(3)
:: * orientation from coordinates of three points minus six constraints; rotation matrix SO(3)
* rigid-body positions: SE(3) (other representations include Euler angles, quaternions)
:: * rigid-body positions: SE(3) (other representations include Euler angles, quaternions)
* using SE(3) to represent configurations, displace configurations, and change frames
:: * using SE(3) to represent configurations, displace configurations and points, and change frames
* velocity and acceleration as time-derivatives of SE(3)
:: * velocity and acceleration as time-derivatives of SE(3); skew-symmetric matrix representation
* adjoint transformation, changing coordinate frames
:: * adjoint transformation, changing coordinate frames
* velocity in body-frame and world-frame
:: * body frame and world frame velocity; hybrid velocity
:: * rigid body motion expressed as translation along, and rotation about, an axis; twists and screws; exponential map
* planar simplification: SE(2) or 3 coordinates, rotation centers
:: * planar simplification: SE(2) and se(2) and 3 coordinates; rotation centers (finite motions) and instantaneous centers (velocities)
:: * C-space obstacles (2R robot and planar body); motion planning: potential fields, search trees, kinematic motion planning (depth-first, breadth-first, and best-first planning; NHP; RRT), software packages ([http://www.kavrakilab.org/OOPSMP/index.html OOPSMP] and [http://msl.cs.uiuc.edu/msl/ MSL]); optimization approaches


Representations of surfaces
: Representations of surfaces


* piecewise-smooth parametric curves and surfaces: 2D and 3D
:: * piecewise-smooth parametric curves and surfaces: 2D and 3D
* differential forms and their relationship to parametric representations: 2D and 3D
:: * differential forms and their relationship to parametric representations: 2D and 3D


Contact constraints
: Contact constraints


* nth-order conditions for free motion, penetration, roll-slide, and rolling
:: * nth-order conditions for free motion, penetration, roll-slide, and rolling
* multiple contacts: partitioning velocities and accelerations according to the constraints; contact modes
:: * multiple contacts: partitioning velocities and accelerations according to the constraints; contact modes
* polyhedral convex sets (polytopes) and polyhedral convex cones
:: * polyhedral convex sets (polytopes) and polyhedral convex cones
* planar case (Reuleaux's method)
:: * planar case (Reuleaux's method)
* first- and second-order form closure and the number of contacts needed
:: * grasping and fixturing: first- and second-order form closure and the number of contacts needed
* rolling motion planning
:: * rolling motion planning
* other contact constraint types: point contact with friction, soft-finger. can deal with both purely kinematically, or introduce wrenches, as discussed below.
:: * other contact constraint types: point contact with friction, soft-finger (purely kinematic or using wrenches)




''FORCES''
'''FORCES'''


Representations of forces
: Representations of forces (readings: MLS pp. 61-9, Mason ch 5)


* forces and moment; wrenches
:: * forces and moment; wrenches; lines of action
* adjoint transformation and changing frames
:: * adjoint transformation and changing frames (derived from coordinate-free power)
* combinations of forces and polyhedral convex wrench cones
:: * combinations of forces and polyhedral convex wrench cones
:: * force closure
* planar case: moment labeling
:: * planar case: moment labeling and planar force closure; equivalence of first-order form closure and frictionless force closure


Contact modeling with friction
: Contact modeling with friction (Mason ch 6)


* zero friction, normal force only; multiple contacts; duality of force and motion freedoms
:: * zero friction, normal force only; multiple contacts; duality of force and motion freedoms
* Coulomb friction and duality of force and motion freedoms
:: * Coulomb friction and duality of force and motion freedoms
* force closure; equivalence of first-order form closure and frictionless form closure; number of contacts needed
:: * grasping and fixturing: force closure; equivalence of first-order form closure and frictionless form closure; number of contacts needed
* pyramid approximations and linear programming test for force closure; planar friction cones and moment labeling test for force closure
:: * pyramid approximations and linear programming test for force closure; planar friction cones and moment labeling test for force closure
<!--
<!--
* principle of maximum dissipation
:: * principle of maximum dissipation
* maximum power inequality and anisotropic friction
:: * maximum power inequality and anisotropic friction
-->
-->


Static and quasistatic manipulation
: Static and quasistatic manipulation


:: * stability of a frictionless assembly; adding friction
* static equilibrium (zero acceleration forces)
:: * static equilibrium (zero acceleration forces)
* wedging and jamming
:: * wedging and jamming
* quasistatic rigid-body mechanics solutions: consistent {motion, wrench} pairs
:: * quasistatic rigid-body mechanics solutions: consistent {motion, wrench} pairs
* ambiguity and inconsistency
:: * ambiguity and inconsistency
* planar problems: Reuleaux and moment labeling
:: * planar problems: Reuleaux and moment labeling
* examples: pipe clamp, meter stick, toppling, peg-in-hole, etc.
:: * examples: stability of assembly, pipe clamp, meter stick, toppling (pushing a can), peg-in-hole, etc.


Planar contact patches, limit surfaces, and pushing
: Planar contact patches, limit surfaces, and pushing (Mason ch 6.6, 7.2, 7.3)


* limit surface
:: * limit surface
* pushing
:: * pushing




''MANIPULATOR CONTROL MODELS''
'''MANIPULATOR CONTROL MODELS'''


Motion, force, hybrid, and impedance control models, DOF for each contact, internal forces, kinematic deficiency <!--see Handbook of Robotics or Bicchi paper-->
: Motion, force, hybrid, and impedance control models, DOF for each contact, internal forces, kinematic deficiency <!--see Handbook of Robotics or Bicchi paper-->




''DYNAMICS''
'''DYNAMICS'''


* rigid-body dynamics, inertia matrix, Newton-Euler equations
:: * rigid-body dynamics, inertia matrix, Newton-Euler equations
* solving rigid-body dynamics problems with friction and different manipulator control models
:: * solving rigid-body dynamics problems with friction and different manipulator control models
* inconsistent specification of controls
:: * inconsistent specification of controls
* complementarity formulations and simulation
:: * complementarity formulations and simulation
* examples
:: * examples




''IMPACT''
'''IMPACT'''


* Newton, Poisson, and Stronge restitution coefficients
:: * Routh-Wang-Mason, Newton, Poisson, and Stronge restitution coefficients
* 3D impact
:: * 3D impact

Latest revision as of 08:38, 28 February 2014

Spring Quarter 2012

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. 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

Mechanics of Robotic Manipulation, M. T. Mason, MIT Press, Cambridge, MA, 2001, ISBN 0-262-13396-2.

Supplementary material will come from Principles of Robot Motion, H. Choset et al., MIT Press 2005; A Mathematical Introduction to Robotic Manipulation, R. M. Murray, Z. Li, and S. S. Sastry, CRC Press, 1994, ISBN 0-8493-7981-4 (free pdf download); Chapter 27 "Contact Modeling and Manipulation," I. Kao, K. Lynch, and J. Burdick, from the Springer Handbook of Robotics; and other sources.

Assignments

Final Project

Find information on the final project here.

Approximate Syllabus

KINEMATICS

Representations of motion
Reading: Mason pp. 1-19, 41-47, 58-60, Chapter 4; Choset chapter 3.5; Murray Li Sastry pp. 19-61 (through Section 4; you can skip Section 2.3 on "Other representations")
* degrees of freedom
* configuration space
* coordinates and constraints, holonomic and nonholonomic
* orientation from coordinates of three points minus six constraints; rotation matrix SO(3)
* rigid-body positions: SE(3) (other representations include Euler angles, quaternions)
* using SE(3) to represent configurations, displace configurations and points, and change frames
* velocity and acceleration as time-derivatives of SE(3); skew-symmetric matrix representation
* adjoint transformation, changing coordinate frames
* body frame and world frame velocity; hybrid velocity
* rigid body motion expressed as translation along, and rotation about, an axis; twists and screws; exponential map
* planar simplification: SE(2) and se(2) and 3 coordinates; rotation centers (finite motions) and instantaneous centers (velocities)
* C-space obstacles (2R robot and planar body); motion planning: potential fields, search trees, kinematic motion planning (depth-first, breadth-first, and best-first planning; NHP; RRT), software packages (OOPSMP and MSL); optimization approaches
Representations of surfaces
* piecewise-smooth parametric curves and surfaces: 2D and 3D
* differential forms and their relationship to parametric representations: 2D and 3D
Contact constraints
* nth-order conditions for free motion, penetration, roll-slide, and rolling
* multiple contacts: partitioning velocities and accelerations according to the constraints; contact modes
* polyhedral convex sets (polytopes) and polyhedral convex cones
* planar case (Reuleaux's method)
* grasping and fixturing: first- and second-order form closure and the number of contacts needed
* rolling motion planning
* other contact constraint types: point contact with friction, soft-finger (purely kinematic or using wrenches)


FORCES

Representations of forces (readings: MLS pp. 61-9, Mason ch 5)
* forces and moment; wrenches; lines of action
* adjoint transformation and changing frames (derived from coordinate-free power)
* combinations of forces and polyhedral convex wrench cones
* force closure
* planar case: moment labeling and planar force closure; equivalence of first-order form closure and frictionless force closure
Contact modeling with friction (Mason ch 6)
* zero friction, normal force only; multiple contacts; duality of force and motion freedoms
* Coulomb friction and duality of force and motion freedoms
* grasping and fixturing: force closure; equivalence of first-order form closure and frictionless form closure; number of contacts needed
* pyramid approximations and linear programming test for force closure; planar friction cones and moment labeling test for force closure
Static and quasistatic manipulation
* stability of a frictionless assembly; adding friction
* static equilibrium (zero acceleration forces)
* wedging and jamming
* quasistatic rigid-body mechanics solutions: consistent {motion, wrench} pairs
* ambiguity and inconsistency
* planar problems: Reuleaux and moment labeling
* examples: stability of assembly, pipe clamp, meter stick, toppling (pushing a can), peg-in-hole, etc.
Planar contact patches, limit surfaces, and pushing (Mason ch 6.6, 7.2, 7.3)
* limit surface
* pushing


MANIPULATOR CONTROL MODELS

Motion, force, hybrid, and impedance control models, DOF for each contact, internal forces, kinematic deficiency


DYNAMICS

* rigid-body dynamics, inertia matrix, Newton-Euler equations
* solving rigid-body dynamics problems with friction and different manipulator control models
* inconsistent specification of controls
* complementarity formulations and simulation
* examples


IMPACT

* Routh-Wang-Mason, Newton, Poisson, and Stronge restitution coefficients
* 3D impact