ME 449 Robotic Manipulation (Archive Fall 2014)
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
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
