Mech - User contributions [en]

ME 449 Robotic Manipulation

2014-06-13T14:38:10Z

AdamBarber: /* Assignments */

'''Spring Quarter 2014'''

* Instructor: Prof. Kevin Lynch
* Office hours: Mon 3-4 PM, Wed 4-5 PM, Tech B222, Adam: Tuesday 6/10 11am, Tech B230
* Meeting: 11-11:50 MWF, Tech LG68
* 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 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==
[[Media:park-lynch.pdf|"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.

[[Media:ME449-Summary-2014.pdf|Summary of important equations]].

==Assignments==

* [[Media:ME449-2014-hw1.pdf|Assignment 1]], due Monday 4/14 at the beginning of class [[Media:ME449_2014_Solns_HW1.pdf|Solutions]]
* [[Media:ME449-2014-hw2.pdf|Assignment 2]], due Monday 4/28 at the beginning of class [[Media:ME449_2014_Solns_HW2.pdf|Solutions]]
* [[Media:ME449-2014-hw3.pdf|Assignment 3]], due Monday 5/12 at the beginning of class [[Media:ME449_2014_Solns_HW3.pdf|Solutions]]
* [[Media:ME449-2014-hw4.pdf|Assignment 4]], due Wednesday 5/21 at the beginning of class [[Media:ME449_2014_Solns_HW4.pdf|Solutions]] [[Media:ME449_2014_Solns_Last_Problem.zip|Last Problem Additional Solution]]
* [[Media:ME449-2014-hw5.pdf|Assignment 5]], due Friday 5/30 at the beginning of class [[Media:ME449_2014_Solns_HW5.pdf|Solutions]]
* [[Media:ME449-2014-hw6.pdf|Assignment 6]], due Friday 6/11 at 11 AM. This assignment refers to the [[Media:ME449-2014-srinivasa-IROS2005.pdf|IROS 2005 paper by Srinivasa et al.]] [[Media:ME449_2014_Solns_HW6.pdf|Solutions]]

==Approximate Syllabus==

Student videos are due at least 48 hours before the first class they will be used for.

'''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 (class 7; Patrick Afrifah and Matthew Patrick)
** [https://www.youtube.com/watch?v=_AyCzxO07P8&feature=youtu.be Intro to Product of Exponentials]
** [https://www.youtube.com/watch?v=fMj0mTJHi74&feature=youtu.be Intro 2 (Talking about alternative form of Product of Exponentials)]
** [https://www.youtube.com/watch?v=Kwl0OonLm9E&feature=youtu.be An example of product of exponentials]
** [https://www.youtube.com/watch?v=DLJKv2IPNWc Another example]

'''Velocity Kinematics and Statics''', through Wed April 23

reading: Chapter 5
* coordinate, space, and body Jacobians (classes 8-9)
* statics of open chains, singularities, manipulability (classes 10-11; Kevin Siegler and Andrew Welter)
** [https://www.youtube.com/watch?v=oVZcmeAOe5k&feature=youtu.be Spatial forces]
** [https://www.youtube.com/watch?v=PDjR1Zbq0Iw&feature=youtu.be Jacobian and joint torques]
** [https://www.youtube.com/watch?v=ckVp4z_AikM&feature=youtu.be Singularities]
** [https://www.youtube.com/watch?v=ZCIgWCGuEGM&feature=youtu.be A second singularity example]
** [https://www.youtube.com/watch?v=oDAfuscBXdc&feature=youtu.be Manipulability ellipsoid]

'''Inverse Kinematics''', through Mon April 28

reading: Chapter 6, but you may skip 6.1
* 2R example, numerical methods, and redundant open chains (classes 12-13)

'''Dynamics of Open Chains''', through Wed May 7

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 (classes 14-15; Harry Briggs and Stefan Hyde)
** [https://www.youtube.com/watch?v=opKvyzq-WzA&feature=youtu.be Dynamics of a rigid body in the body frame]
** [https://www.youtube.com/watch?v=DNSxaQJqOHs&feature=youtu.be Dynamics of a rigid body in the space frame]
** [https://www.youtube.com/watch?v=fLEJtElwfd8 Lagrangian dynamics]
** [https://www.youtube.com/watch?v=IUTUgVG9DDY Lagrangian dynamics: 2R example part 1]
** [https://www.youtube.com/watch?v=AEChG8BtfOY Lagrangian dynamics: 2R example part 2]
* Newton-Euler inverse and forward dynamics of open chains, dynamics in task space (classes 16-17; Ahalya Prabhakar and Ben Richardson)
** [http://youtu.be/7Qg45A8AXbk Newton-Euler Inverse Dynamics, Part 1/3]
** [http://youtu.be/CTvJUfhVjhI Newton-Euler Inverse Dynamics, Part 2/3]
** [http://youtu.be/8BtVH2ZzM9s Newton-Euler Inverse Dynamics, Part 3/3]
** [http://youtu.be/xJU8yNuBcdc Forward Dynamics of Open Chains]
** [http://youtu.be/3a5SN7G6ipY Dynamics in Task Space Coordinates]

'''Trajectory Generation''', through Mon May 12

reading: Chapter 9, but you may skip 9.2 and 9.3
* definitions and time-optimal time scaling (classes 18-19; Wentao Chen and Chi Zhang)
** [http://www.youtube.com/watch?v=WzRJh-Xd0yo&feature=youtu.be#userconsent# Trajectory generation: definition]
** [http://www.youtube.com/watch?v=ZRJQhRoILnE&feature=youtu.be#userconsent# Time-optimal time-scaling]
** [https://www.youtube.com/watch?v=mPyIeWVBL88 (s, sdot) phase plane]
** [https://www.youtube.com/watch?v=llZUtyO7ULY Time-optimal time-scaling algorithm]
** [https://www.youtube.com/watch?v=Nqu_PMyZjcQ Assumptions and caveats]

'''Motion Planning''', through Wed May 21

reading: Chapter 10 through 10.5.1
* overview, foundations, and complete path planners (classes 20-21; Siddarth Jain)
** [http://youtu.be/DqExgvhLuvw Motion planning overview]
** [http://youtu.be/yWpUjoLOEr4 Types of motion planning]
** [http://youtu.be/KdQicahSJYI Configuration-space obstacles]
** [http://youtu.be/LKp8gR1C5qI Graphs and trees]
** [http://youtu.be/qsZB41VO4UU The search problem, heuristics and A* overview]
** [http://youtu.be/gQDGJl1p6Eo A* search]

* grid methods and the RRT sampling method (classes 22-23)

'''Robot Control'''

optional: Chapter 11

'''Grasping and Manipulation''', through Fri June 6

reading: Chapter 12
* contact kinematics, planar graphical methods, and form closure (classes 24-25)

* contact forces, planar graphical methods, and force closure, Chapter 12.2 (classes 26-27; Xiang Chen and Xiaobin Xiong)
** [http://youtu.be/akC7GjYMr5g Contact forces]
** [http://youtu.be/h0PTT7K7emE The friction cone]
** [http://youtu.be/2wthJvwAXkU Wrench cones]
** [http://youtu.be/aGEBi-yHOZ8 Moment labeling for systems of planar forces]
** [http://youtu.be/nRWcjGy8NUg Force closure]
** [http://youtu.be/yeB57L1kaxA A condition for force closure of a rigid body]

* other manipulation, Chapter 12.3 (classes 28-29; Max Shepherd and Zack Woodruff)
** [http://youtu.be/SmrfKaEJaIQ Other manipulation]
** [http://youtu.be/u7yqipd0kMo Block balance example]
** [http://youtu.be/bD9WNG0lqEI Meter stick example]
** [http://youtu.be/jHhLUPiyuEw Arch example]
** [http://youtu.be/lHx-Upu_fIU Peg-in-hole example]

==Archive==

* [[ME 449 Robotic Manipulation (Archive 2012)|ME 449 Spring 2012]]

File:ME449 2014 Solns HW6.pdf

2014-06-13T14:37:49Z

AdamBarber:

ME 449 Robotic Manipulation

2014-06-06T21:30:48Z

AdamBarber:

'''Spring Quarter 2014'''

* Instructor: Prof. Kevin Lynch
* Office hours: Mon 3-4 PM, Wed 4-5 PM, Tech B222, Adam: Tuesday 6/10 11am, Tech B230
* Meeting: 11-11:50 MWF, Tech LG68
* 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 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==
[[Media:park-lynch.pdf|"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.

[[Media:ME449-Summary-2014.pdf|Summary of important equations]].

==Assignments==

* [[Media:ME449-2014-hw1.pdf|Assignment 1]], due Monday 4/14 at the beginning of class [[Media:ME449_2014_Solns_HW1.pdf|Solutions]]
* [[Media:ME449-2014-hw2.pdf|Assignment 2]], due Monday 4/28 at the beginning of class [[Media:ME449_2014_Solns_HW2.pdf|Solutions]]
* [[Media:ME449-2014-hw3.pdf|Assignment 3]], due Monday 5/12 at the beginning of class [[Media:ME449_2014_Solns_HW3.pdf|Solutions]]
* [[Media:ME449-2014-hw4.pdf|Assignment 4]], due Wednesday 5/21 at the beginning of class [[Media:ME449_2014_Solns_HW4.pdf|Solutions]] [[Media:ME449_2014_Solns_Last_Problem.zip|Last Problem Additional Solution]]
* [[Media:ME449-2014-hw5.pdf|Assignment 5]], due Friday 5/30 at the beginning of class [[Media:ME449_2014_Solns_HW5.pdf|Solutions]]
* [[Media:ME449-2014-hw6.pdf|Assignment 6]], due Friday 6/11 at 11 AM. This assignment refers to the [[Media:ME449-2014-srinivasa-IROS2005.pdf|IROS 2005 paper by Srinivasa et al.]]

==Approximate Syllabus==

Student videos are due at least 48 hours before the first class they will be used for.

'''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 (class 7; Patrick Afrifah and Matthew Patrick)
** [https://www.youtube.com/watch?v=_AyCzxO07P8&feature=youtu.be Intro to Product of Exponentials]
** [https://www.youtube.com/watch?v=fMj0mTJHi74&feature=youtu.be Intro 2 (Talking about alternative form of Product of Exponentials)]
** [https://www.youtube.com/watch?v=Kwl0OonLm9E&feature=youtu.be An example of product of exponentials]
** [https://www.youtube.com/watch?v=DLJKv2IPNWc Another example]

'''Velocity Kinematics and Statics''', through Wed April 23

reading: Chapter 5
* coordinate, space, and body Jacobians (classes 8-9)
* statics of open chains, singularities, manipulability (classes 10-11; Kevin Siegler and Andrew Welter)
** [https://www.youtube.com/watch?v=oVZcmeAOe5k&feature=youtu.be Spatial forces]
** [https://www.youtube.com/watch?v=PDjR1Zbq0Iw&feature=youtu.be Jacobian and joint torques]
** [https://www.youtube.com/watch?v=ckVp4z_AikM&feature=youtu.be Singularities]
** [https://www.youtube.com/watch?v=ZCIgWCGuEGM&feature=youtu.be A second singularity example]
** [https://www.youtube.com/watch?v=oDAfuscBXdc&feature=youtu.be Manipulability ellipsoid]

'''Inverse Kinematics''', through Mon April 28

reading: Chapter 6, but you may skip 6.1
* 2R example, numerical methods, and redundant open chains (classes 12-13)

'''Dynamics of Open Chains''', through Wed May 7

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 (classes 14-15; Harry Briggs and Stefan Hyde)
** [https://www.youtube.com/watch?v=opKvyzq-WzA&feature=youtu.be Dynamics of a rigid body in the body frame]
** [https://www.youtube.com/watch?v=DNSxaQJqOHs&feature=youtu.be Dynamics of a rigid body in the space frame]
** [https://www.youtube.com/watch?v=fLEJtElwfd8 Lagrangian dynamics]
** [https://www.youtube.com/watch?v=IUTUgVG9DDY Lagrangian dynamics: 2R example part 1]
** [https://www.youtube.com/watch?v=AEChG8BtfOY Lagrangian dynamics: 2R example part 2]
* Newton-Euler inverse and forward dynamics of open chains, dynamics in task space (classes 16-17; Ahalya Prabhakar and Ben Richardson)
** [http://youtu.be/7Qg45A8AXbk Newton-Euler Inverse Dynamics, Part 1/3]
** [http://youtu.be/CTvJUfhVjhI Newton-Euler Inverse Dynamics, Part 2/3]
** [http://youtu.be/8BtVH2ZzM9s Newton-Euler Inverse Dynamics, Part 3/3]
** [http://youtu.be/xJU8yNuBcdc Forward Dynamics of Open Chains]
** [http://youtu.be/3a5SN7G6ipY Dynamics in Task Space Coordinates]

'''Trajectory Generation''', through Mon May 12

reading: Chapter 9, but you may skip 9.2 and 9.3
* definitions and time-optimal time scaling (classes 18-19; Wentao Chen and Chi Zhang)
** [http://www.youtube.com/watch?v=WzRJh-Xd0yo&feature=youtu.be#userconsent# Trajectory generation: definition]
** [http://www.youtube.com/watch?v=ZRJQhRoILnE&feature=youtu.be#userconsent# Time-optimal time-scaling]
** [https://www.youtube.com/watch?v=mPyIeWVBL88 (s, sdot) phase plane]
** [https://www.youtube.com/watch?v=llZUtyO7ULY Time-optimal time-scaling algorithm]
** [https://www.youtube.com/watch?v=Nqu_PMyZjcQ Assumptions and caveats]

'''Motion Planning''', through Wed May 21

reading: Chapter 10 through 10.5.1
* overview, foundations, and complete path planners (classes 20-21; Siddarth Jain)
** [http://youtu.be/DqExgvhLuvw Motion planning overview]
** [http://youtu.be/yWpUjoLOEr4 Types of motion planning]
** [http://youtu.be/KdQicahSJYI Configuration-space obstacles]
** [http://youtu.be/LKp8gR1C5qI Graphs and trees]
** [http://youtu.be/qsZB41VO4UU The search problem, heuristics and A* overview]
** [http://youtu.be/gQDGJl1p6Eo A* search]

* grid methods and the RRT sampling method (classes 22-23)

'''Robot Control'''

optional: Chapter 11

'''Grasping and Manipulation''', through Fri June 6

reading: Chapter 12
* contact kinematics, planar graphical methods, and form closure (classes 24-25)

* contact forces, planar graphical methods, and force closure, Chapter 12.2 (classes 26-27; Xiang Chen and Xiaobin Xiong)
** [http://youtu.be/akC7GjYMr5g Contact forces]
** [http://youtu.be/h0PTT7K7emE The friction cone]
** [http://youtu.be/2wthJvwAXkU Wrench cones]
** [http://youtu.be/aGEBi-yHOZ8 Moment labeling for systems of planar forces]
** [http://youtu.be/nRWcjGy8NUg Force closure]
** [http://youtu.be/yeB57L1kaxA A condition for force closure of a rigid body]

* other manipulation, Chapter 12.3 (classes 28-29; Max Shepherd and Zack Woodruff)
** [http://youtu.be/SmrfKaEJaIQ Other manipulation]
** [http://youtu.be/u7yqipd0kMo Block balance example]
** [http://youtu.be/bD9WNG0lqEI Meter stick example]
** [http://youtu.be/jHhLUPiyuEw Arch example]
** [http://youtu.be/lHx-Upu_fIU Peg-in-hole example]

==Archive==

* [[ME 449 Robotic Manipulation (Archive 2012)|ME 449 Spring 2012]]

ME 449 Robotic Manipulation

2014-06-04T15:10:11Z

AdamBarber: /* Assignments */

'''Spring Quarter 2014'''

* Instructor: Prof. Kevin Lynch
* Office hours: Mon 3-4 PM, Wed 4-5 PM, Tech B222, Adam: Fri 2-3 PM (No office hours 5/2 or 5/5-5/9, Office Hours 5/1 from 11am-12am), Tech B230
* Meeting: 11-11:50 MWF, Tech LG68
* 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 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==
[[Media:park-lynch.pdf|"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.

[[Media:ME449-Summary-2014.pdf|Summary of important equations]].

==Assignments==

* [[Media:ME449-2014-hw1.pdf|Assignment 1]], due Monday 4/14 at the beginning of class [[Media:ME449_2014_Solns_HW1.pdf|Solutions]]
* [[Media:ME449-2014-hw2.pdf|Assignment 2]], due Monday 4/28 at the beginning of class [[Media:ME449_2014_Solns_HW2.pdf|Solutions]]
* [[Media:ME449-2014-hw3.pdf|Assignment 3]], due Monday 5/12 at the beginning of class [[Media:ME449_2014_Solns_HW3.pdf|Solutions]]
* [[Media:ME449-2014-hw4.pdf|Assignment 4]], due Wednesday 5/21 at the beginning of class [[Media:ME449_2014_Solns_HW4.pdf|Solutions]] [[Media:ME449_2014_Solns_Last_Problem.zip|Last Problem Additional Solution]]
* [[Media:ME449-2014-hw5.pdf|Assignment 5]], due Friday 5/30 at the beginning of class [[Media:ME449_2014_Solns_HW5.pdf|Solutions]]
* [[Media:ME449-2014-hw6.pdf|Assignment 6]], due Friday 6/11 at 11 AM. This assignment refers to the [[Media:ME449-2014-srinivasa-IROS2005.pdf|IROS 2005 paper by Srinivasa et al.]]

==Approximate Syllabus==

Student videos are due at least 48 hours before the first class they will be used for.

'''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 (class 7; Patrick Afrifah and Matthew Patrick)
** [https://www.youtube.com/watch?v=_AyCzxO07P8&feature=youtu.be Intro to Product of Exponentials]
** [https://www.youtube.com/watch?v=fMj0mTJHi74&feature=youtu.be Intro 2 (Talking about alternative form of Product of Exponentials)]
** [https://www.youtube.com/watch?v=Kwl0OonLm9E&feature=youtu.be An example of product of exponentials]
** [https://www.youtube.com/watch?v=DLJKv2IPNWc Another example]

'''Velocity Kinematics and Statics''', through Wed April 23

reading: Chapter 5
* coordinate, space, and body Jacobians (classes 8-9)
* statics of open chains, singularities, manipulability (classes 10-11; Kevin Siegler and Andrew Welter)
** [https://www.youtube.com/watch?v=oVZcmeAOe5k&feature=youtu.be Spatial forces]
** [https://www.youtube.com/watch?v=PDjR1Zbq0Iw&feature=youtu.be Jacobian and joint torques]
** [https://www.youtube.com/watch?v=ckVp4z_AikM&feature=youtu.be Singularities]
** [https://www.youtube.com/watch?v=ZCIgWCGuEGM&feature=youtu.be A second singularity example]
** [https://www.youtube.com/watch?v=oDAfuscBXdc&feature=youtu.be Manipulability ellipsoid]

'''Inverse Kinematics''', through Mon April 28

reading: Chapter 6, but you may skip 6.1
* 2R example, numerical methods, and redundant open chains (classes 12-13)

'''Dynamics of Open Chains''', through Wed May 7

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 (classes 14-15; Harry Briggs and Stefan Hyde)
** [https://www.youtube.com/watch?v=opKvyzq-WzA&feature=youtu.be Dynamics of a rigid body in the body frame]
** [https://www.youtube.com/watch?v=DNSxaQJqOHs&feature=youtu.be Dynamics of a rigid body in the space frame]
** [https://www.youtube.com/watch?v=fLEJtElwfd8 Lagrangian dynamics]
** [https://www.youtube.com/watch?v=IUTUgVG9DDY Lagrangian dynamics: 2R example part 1]
** [https://www.youtube.com/watch?v=AEChG8BtfOY Lagrangian dynamics: 2R example part 2]
* Newton-Euler inverse and forward dynamics of open chains, dynamics in task space (classes 16-17; Ahalya Prabhakar and Ben Richardson)
** [http://youtu.be/7Qg45A8AXbk Newton-Euler Inverse Dynamics, Part 1/3]
** [http://youtu.be/CTvJUfhVjhI Newton-Euler Inverse Dynamics, Part 2/3]
** [http://youtu.be/8BtVH2ZzM9s Newton-Euler Inverse Dynamics, Part 3/3]
** [http://youtu.be/xJU8yNuBcdc Forward Dynamics of Open Chains]
** [http://youtu.be/3a5SN7G6ipY Dynamics in Task Space Coordinates]

'''Trajectory Generation''', through Mon May 12

reading: Chapter 9, but you may skip 9.2 and 9.3
* definitions and time-optimal time scaling (classes 18-19; Wentao Chen and Chi Zhang)
** [http://www.youtube.com/watch?v=WzRJh-Xd0yo&feature=youtu.be#userconsent# Trajectory generation: definition]
** [http://www.youtube.com/watch?v=ZRJQhRoILnE&feature=youtu.be#userconsent# Time-optimal time-scaling]
** [https://www.youtube.com/watch?v=mPyIeWVBL88 (s, sdot) phase plane]
** [https://www.youtube.com/watch?v=llZUtyO7ULY Time-optimal time-scaling algorithm]
** [https://www.youtube.com/watch?v=Nqu_PMyZjcQ Assumptions and caveats]

'''Motion Planning''', through Wed May 21

reading: Chapter 10 through 10.5.1
* overview, foundations, and complete path planners (classes 20-21; Siddarth Jain)
** [http://youtu.be/DqExgvhLuvw Motion planning overview]
** [http://youtu.be/yWpUjoLOEr4 Types of motion planning]
** [http://youtu.be/KdQicahSJYI Configuration-space obstacles]
** [http://youtu.be/LKp8gR1C5qI Graphs and trees]
** [http://youtu.be/qsZB41VO4UU The search problem, heuristics and A* overview]
** [http://youtu.be/gQDGJl1p6Eo A* search]

* grid methods and the RRT sampling method (classes 22-23)

'''Robot Control'''

optional: Chapter 11

'''Grasping and Manipulation''', through Fri June 6

reading: Chapter 12
* contact kinematics, planar graphical methods, and form closure (classes 24-25)

* contact forces, planar graphical methods, and force closure, Chapter 12.2 (classes 26-27; Xiang Chen and Xiaobin Xiong)
** [http://youtu.be/akC7GjYMr5g Contact forces]
** [http://youtu.be/h0PTT7K7emE The friction cone]
** [http://youtu.be/2wthJvwAXkU Wrench cones]
** [http://youtu.be/aGEBi-yHOZ8 Moment labeling for systems of planar forces]
** [http://youtu.be/nRWcjGy8NUg Force closure]
** [http://youtu.be/yeB57L1kaxA A condition for force closure of a rigid body]

* other manipulation, Chapter 12.3 (classes 28-29; Max Shepherd and Zack Woodruff)
** [http://youtu.be/SmrfKaEJaIQ Other manipulation]
** [http://youtu.be/u7yqipd0kMo Block balance example]
** [http://youtu.be/bD9WNG0lqEI Meter stick example]
** [http://youtu.be/jHhLUPiyuEw Arch example]
** [http://youtu.be/lHx-Upu_fIU Peg-in-hole example]

==Archive==

* [[ME 449 Robotic Manipulation (Archive 2012)|ME 449 Spring 2012]]

File:ME449 2014 Solns HW5.pdf

2014-06-04T15:09:18Z

AdamBarber:

File:ME449 2014 Solns HW4.pdf

2014-05-27T20:44:30Z

AdamBarber: uploaded a new version of "File:ME449 2014 Solns HW4.pdf"

ME 449 Robotic Manipulation

2014-05-27T17:08:03Z

AdamBarber: /* Assignments */

'''Spring Quarter 2014'''

* Instructor: Prof. Kevin Lynch
* Office hours: Mon 3-4 PM, Wed 4-5 PM, Tech B222, Adam: Fri 2-3 PM (No office hours 5/2 or 5/5-5/9, Office Hours 5/1 from 11am-12am), Tech B230
* Meeting: 11-11:50 MWF, Tech LG68
* 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 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==
[[Media:park-lynch.pdf|"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.

[[Media:ME449-Summary-2014.pdf|Summary of important equations]].

==Assignments==

* [[Media:ME449-2014-hw1.pdf|Assignment 1]], due Monday 4/14 at the beginning of class [[Media:ME449_2014_Solns_HW1.pdf|Solutions]]
* [[Media:ME449-2014-hw2.pdf|Assignment 2]], due Monday 4/28 at the beginning of class [[Media:ME449_2014_Solns_HW2.pdf|Solutions]]
* [[Media:ME449-2014-hw3.pdf|Assignment 3]], due Monday 5/12 at the beginning of class [[Media:ME449_2014_Solns_HW3.pdf|Solutions]]
* [[Media:ME449-2014-hw4.pdf|Assignment 4]], due Wednesday 5/21 at the beginning of class [[Media:ME449_2014_Solns_HW4.pdf|Solutions]] [[Media:ME449_2014_Solns_Last_Problem.zip|Last Problem Additional Solution]]
* [[Media:ME449-2014-hw5.pdf|Assignment 5]], due Friday 5/30 at the beginning of class
* [[Media:ME449-2014-hw6.pdf|Assignment 6]], due Friday 6/11 at 11 AM. This assignment refers to the [[Media:ME449-2014-srinivasa-IROS2005.pdf|IROS 2005 paper by Srinivasa et al.]]

==Approximate Syllabus==

Student videos are due at least 48 hours before the first class they will be used for.

'''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 (class 7; Patrick Afrifah and Matthew Patrick)
** [https://www.youtube.com/watch?v=_AyCzxO07P8&feature=youtu.be Intro to Product of Exponentials]
** [https://www.youtube.com/watch?v=fMj0mTJHi74&feature=youtu.be Intro 2 (Talking about alternative form of Product of Exponentials)]
** [https://www.youtube.com/watch?v=Kwl0OonLm9E&feature=youtu.be An example of product of exponentials]
** [https://www.youtube.com/watch?v=DLJKv2IPNWc Another example]

'''Velocity Kinematics and Statics''', through Wed April 23

reading: Chapter 5
* coordinate, space, and body Jacobians (classes 8-9)
* statics of open chains, singularities, manipulability (classes 10-11; Kevin Siegler and Andrew Welter)
** [https://www.youtube.com/watch?v=oVZcmeAOe5k&feature=youtu.be Spatial forces]
** [https://www.youtube.com/watch?v=PDjR1Zbq0Iw&feature=youtu.be Jacobian and joint torques]
** [https://www.youtube.com/watch?v=ckVp4z_AikM&feature=youtu.be Singularities]
** [https://www.youtube.com/watch?v=ZCIgWCGuEGM&feature=youtu.be A second singularity example]
** [https://www.youtube.com/watch?v=oDAfuscBXdc&feature=youtu.be Manipulability ellipsoid]

'''Inverse Kinematics''', through Mon April 28

reading: Chapter 6, but you may skip 6.1
* 2R example, numerical methods, and redundant open chains (classes 12-13)

'''Dynamics of Open Chains''', through Wed May 7

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 (classes 14-15; Harry Briggs and Stefan Hyde)
** [https://www.youtube.com/watch?v=opKvyzq-WzA&feature=youtu.be Dynamics of a rigid body in the body frame]
** [https://www.youtube.com/watch?v=DNSxaQJqOHs&feature=youtu.be Dynamics of a rigid body in the space frame]
** [https://www.youtube.com/watch?v=fLEJtElwfd8 Lagrangian dynamics]
** [https://www.youtube.com/watch?v=IUTUgVG9DDY Lagrangian dynamics: 2R example part 1]
** [https://www.youtube.com/watch?v=AEChG8BtfOY Lagrangian dynamics: 2R example part 2]
* Newton-Euler inverse and forward dynamics of open chains, dynamics in task space (classes 16-17; Ahalya Prabhakar and Ben Richardson)
** [http://youtu.be/7Qg45A8AXbk Newton-Euler Inverse Dynamics, Part 1/3]
** [http://youtu.be/CTvJUfhVjhI Newton-Euler Inverse Dynamics, Part 2/3]
** [http://youtu.be/8BtVH2ZzM9s Newton-Euler Inverse Dynamics, Part 3/3]
** [http://youtu.be/xJU8yNuBcdc Forward Dynamics of Open Chains]
** [http://youtu.be/3a5SN7G6ipY Dynamics in Task Space Coordinates]

'''Trajectory Generation''', through Mon May 12

reading: Chapter 9, but you may skip 9.2 and 9.3
* definitions and time-optimal time scaling (classes 18-19; Wentao Chen and Chi Zhang)
** [http://www.youtube.com/watch?v=WzRJh-Xd0yo&feature=youtu.be#userconsent# Trajectory generation: definition]
** [http://www.youtube.com/watch?v=ZRJQhRoILnE&feature=youtu.be#userconsent# Time-optimal time-scaling]
** [https://www.youtube.com/watch?v=mPyIeWVBL88 (s, sdot) phase plane]
** [https://www.youtube.com/watch?v=llZUtyO7ULY Time-optimal time-scaling algorithm]
** [https://www.youtube.com/watch?v=Nqu_PMyZjcQ Assumptions and caveats]

'''Motion Planning''', through Wed May 21

reading: Chapter 10 through 10.5.1
* overview, foundations, and complete path planners (classes 20-21; Siddarth Jain)
** [http://youtu.be/DqExgvhLuvw Motion planning overview]
** [http://youtu.be/yWpUjoLOEr4 Types of motion planning]
** [http://youtu.be/KdQicahSJYI Configuration-space obstacles]
** [http://youtu.be/LKp8gR1C5qI Graphs and trees]
** [http://youtu.be/qsZB41VO4UU The search problem, heuristics and A* overview]
** [http://youtu.be/gQDGJl1p6Eo A* search]

* grid methods and the RRT sampling method (classes 22-23)

'''Robot Control'''

optional: Chapter 11

'''Grasping and Manipulation''', through Fri June 6

reading: Chapter 12
* contact kinematics, planar graphical methods, and form closure (classes 24-25)
* contact forces, planar graphical methods, and force closure, Chapter 12.2 (classes 26-27; Xiang Chen and Xiaobin Xiong)
* other manipulation, Chapter 12.3 (classes 28-29; Max Shepherd and Zack Woodruff)

==Archive==

* [[ME 449 Robotic Manipulation (Archive 2012)|ME 449 Spring 2012]]

ME 449 Robotic Manipulation

2014-05-27T15:06:59Z

AdamBarber: /* Assignments */

'''Spring Quarter 2014'''

* Instructor: Prof. Kevin Lynch
* Office hours: Mon 3-4 PM, Wed 4-5 PM, Tech B222, Adam: Fri 2-3 PM (No office hours 5/2 or 5/5-5/9, Office Hours 5/1 from 11am-12am), Tech B230
* Meeting: 11-11:50 MWF, Tech LG68
* 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 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==
[[Media:park-lynch.pdf|"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.

[[Media:ME449-Summary-2014.pdf|Summary of important equations]].

==Assignments==

* [[Media:ME449-2014-hw1.pdf|Assignment 1]], due Monday 4/14 at the beginning of class [[Media:ME449_2014_Solns_HW1.pdf|Solutions]]
* [[Media:ME449-2014-hw2.pdf|Assignment 2]], due Monday 4/28 at the beginning of class [[Media:ME449_2014_Solns_HW2.pdf|Solutions]]
* [[Media:ME449-2014-hw3.pdf|Assignment 3]], due Monday 5/12 at the beginning of class [[Media:ME449_2014_Solns_HW3.pdf|Solutions]]
* [[Media:ME449-2014-hw4.pdf|Assignment 4]], due Wednesday 5/21 at the beginning of class [[Media:ME449_2014_Solns_HW4.pdf|Solutions]] [[Media:ME449_2014_Solns_Last_Problem.zip|Last Problem Additional Solution]]
* [[Media:ME449-2014-hw5.pdf|Assignment 5]], due Wednesday 5/30 at the beginning of class
* [[Media:ME449-2014-hw6.pdf|Assignment 6]], due Friday 6/11 at 11 AM. This assignment refers to the [[Media:ME449-2014-srinivasa-IROS2005.pdf|IROS 2005 paper by Srinivasa et al.]]

==Approximate Syllabus==

Student videos are due at least 48 hours before the first class they will be used for.

'''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 (class 7; Patrick Afrifah and Matthew Patrick)
** [https://www.youtube.com/watch?v=_AyCzxO07P8&feature=youtu.be Intro to Product of Exponentials]
** [https://www.youtube.com/watch?v=fMj0mTJHi74&feature=youtu.be Intro 2 (Talking about alternative form of Product of Exponentials)]
** [https://www.youtube.com/watch?v=Kwl0OonLm9E&feature=youtu.be An example of product of exponentials]
** [https://www.youtube.com/watch?v=DLJKv2IPNWc Another example]

'''Velocity Kinematics and Statics''', through Wed April 23

reading: Chapter 5
* coordinate, space, and body Jacobians (classes 8-9)
* statics of open chains, singularities, manipulability (classes 10-11; Kevin Siegler and Andrew Welter)
** [https://www.youtube.com/watch?v=oVZcmeAOe5k&feature=youtu.be Spatial forces]
** [https://www.youtube.com/watch?v=PDjR1Zbq0Iw&feature=youtu.be Jacobian and joint torques]
** [https://www.youtube.com/watch?v=ckVp4z_AikM&feature=youtu.be Singularities]
** [https://www.youtube.com/watch?v=ZCIgWCGuEGM&feature=youtu.be A second singularity example]
** [https://www.youtube.com/watch?v=oDAfuscBXdc&feature=youtu.be Manipulability ellipsoid]

'''Inverse Kinematics''', through Mon April 28

reading: Chapter 6, but you may skip 6.1
* 2R example, numerical methods, and redundant open chains (classes 12-13)

'''Dynamics of Open Chains''', through Wed May 7

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 (classes 14-15; Harry Briggs and Stefan Hyde)
** [https://www.youtube.com/watch?v=opKvyzq-WzA&feature=youtu.be Dynamics of a rigid body in the body frame]
** [https://www.youtube.com/watch?v=DNSxaQJqOHs&feature=youtu.be Dynamics of a rigid body in the space frame]
** [https://www.youtube.com/watch?v=fLEJtElwfd8 Lagrangian dynamics]
** [https://www.youtube.com/watch?v=IUTUgVG9DDY Lagrangian dynamics: 2R example part 1]
** [https://www.youtube.com/watch?v=AEChG8BtfOY Lagrangian dynamics: 2R example part 2]
* Newton-Euler inverse and forward dynamics of open chains, dynamics in task space (classes 16-17; Ahalya Prabhakar and Ben Richardson)
** [http://youtu.be/7Qg45A8AXbk Newton-Euler Inverse Dynamics, Part 1/3]
** [http://youtu.be/CTvJUfhVjhI Newton-Euler Inverse Dynamics, Part 2/3]
** [http://youtu.be/8BtVH2ZzM9s Newton-Euler Inverse Dynamics, Part 3/3]
** [http://youtu.be/xJU8yNuBcdc Forward Dynamics of Open Chains]
** [http://youtu.be/3a5SN7G6ipY Dynamics in Task Space Coordinates]

'''Trajectory Generation''', through Mon May 12

reading: Chapter 9, but you may skip 9.2 and 9.3
* definitions and time-optimal time scaling (classes 18-19; Wentao Chen and Chi Zhang)
** [http://www.youtube.com/watch?v=WzRJh-Xd0yo&feature=youtu.be#userconsent# Trajectory generation: definition]
** [http://www.youtube.com/watch?v=ZRJQhRoILnE&feature=youtu.be#userconsent# Time-optimal time-scaling]
** [https://www.youtube.com/watch?v=mPyIeWVBL88 (s, sdot) phase plane]
** [https://www.youtube.com/watch?v=llZUtyO7ULY Time-optimal time-scaling algorithm]
** [https://www.youtube.com/watch?v=Nqu_PMyZjcQ Assumptions and caveats]

'''Motion Planning''', through Wed May 21

reading: Chapter 10 through 10.5.1
* overview, foundations, and complete path planners (classes 20-21; Siddarth Jain)
** [http://youtu.be/DqExgvhLuvw Motion planning overview]
** [http://youtu.be/yWpUjoLOEr4 Types of motion planning]
** [http://youtu.be/KdQicahSJYI Configuration-space obstacles]
** [http://youtu.be/LKp8gR1C5qI Graphs and trees]
** [http://youtu.be/qsZB41VO4UU The search problem, heuristics and A* overview]
** [http://youtu.be/gQDGJl1p6Eo A* search]

* grid methods and the RRT sampling method (classes 22-23)

'''Robot Control'''

optional: Chapter 11

'''Grasping and Manipulation''', through Fri June 6

reading: Chapter 12
* contact kinematics, planar graphical methods, and form closure (classes 24-25)
* contact forces, planar graphical methods, and force closure, Chapter 12.2 (classes 26-27; Xiang Chen and Xiaobin Xiong)
* other manipulation, Chapter 12.3 (classes 28-29; Max Shepherd and Zack Woodruff)

==Archive==

* [[ME 449 Robotic Manipulation (Archive 2012)|ME 449 Spring 2012]]

File:ME449 2014 Solns Last Problem.zip

2014-05-27T15:06:28Z

AdamBarber:

ME 449 Robotic Manipulation

2014-05-27T15:05:55Z

AdamBarber: /* Assignments */

'''Spring Quarter 2014'''

* Instructor: Prof. Kevin Lynch
* Office hours: Mon 3-4 PM, Wed 4-5 PM, Tech B222, Adam: Fri 2-3 PM (No office hours 5/2 or 5/5-5/9, Office Hours 5/1 from 11am-12am), Tech B230
* Meeting: 11-11:50 MWF, Tech LG68
* 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 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==
[[Media:park-lynch.pdf|"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.

[[Media:ME449-Summary-2014.pdf|Summary of important equations]].

==Assignments==

* [[Media:ME449-2014-hw1.pdf|Assignment 1]], due Monday 4/14 at the beginning of class [[Media:ME449_2014_Solns_HW1.pdf|Solutions]]
* [[Media:ME449-2014-hw2.pdf|Assignment 2]], due Monday 4/28 at the beginning of class [[Media:ME449_2014_Solns_HW2.pdf|Solutions]]
* [[Media:ME449-2014-hw3.pdf|Assignment 3]], due Monday 5/12 at the beginning of class [[Media:ME449_2014_Solns_HW3.pdf|Solutions]]
* [[Media:ME449-2014-hw4.pdf|Assignment 4]], due Wednesday 5/21 at the beginning of class [[Media:ME449_2014_Solns_HW4.pdf|Solutions]] [[File:ME449_2014_Solns_Last_Problem.zip|Last Problem Additional Solution]]
* [[Media:ME449-2014-hw5.pdf|Assignment 5]], due Wednesday 5/30 at the beginning of class
* [[Media:ME449-2014-hw6.pdf|Assignment 6]], due Friday 6/11 at 11 AM. This assignment refers to the [[Media:ME449-2014-srinivasa-IROS2005.pdf|IROS 2005 paper by Srinivasa et al.]]

==Approximate Syllabus==

Student videos are due at least 48 hours before the first class they will be used for.

'''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 (class 7; Patrick Afrifah and Matthew Patrick)
** [https://www.youtube.com/watch?v=_AyCzxO07P8&feature=youtu.be Intro to Product of Exponentials]
** [https://www.youtube.com/watch?v=fMj0mTJHi74&feature=youtu.be Intro 2 (Talking about alternative form of Product of Exponentials)]
** [https://www.youtube.com/watch?v=Kwl0OonLm9E&feature=youtu.be An example of product of exponentials]
** [https://www.youtube.com/watch?v=DLJKv2IPNWc Another example]

'''Velocity Kinematics and Statics''', through Wed April 23

reading: Chapter 5
* coordinate, space, and body Jacobians (classes 8-9)
* statics of open chains, singularities, manipulability (classes 10-11; Kevin Siegler and Andrew Welter)
** [https://www.youtube.com/watch?v=oVZcmeAOe5k&feature=youtu.be Spatial forces]
** [https://www.youtube.com/watch?v=PDjR1Zbq0Iw&feature=youtu.be Jacobian and joint torques]
** [https://www.youtube.com/watch?v=ckVp4z_AikM&feature=youtu.be Singularities]
** [https://www.youtube.com/watch?v=ZCIgWCGuEGM&feature=youtu.be A second singularity example]
** [https://www.youtube.com/watch?v=oDAfuscBXdc&feature=youtu.be Manipulability ellipsoid]

'''Inverse Kinematics''', through Mon April 28

reading: Chapter 6, but you may skip 6.1
* 2R example, numerical methods, and redundant open chains (classes 12-13)

'''Dynamics of Open Chains''', through Wed May 7

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 (classes 14-15; Harry Briggs and Stefan Hyde)
** [https://www.youtube.com/watch?v=opKvyzq-WzA&feature=youtu.be Dynamics of a rigid body in the body frame]
** [https://www.youtube.com/watch?v=DNSxaQJqOHs&feature=youtu.be Dynamics of a rigid body in the space frame]
** [https://www.youtube.com/watch?v=fLEJtElwfd8 Lagrangian dynamics]
** [https://www.youtube.com/watch?v=IUTUgVG9DDY Lagrangian dynamics: 2R example part 1]
** [https://www.youtube.com/watch?v=AEChG8BtfOY Lagrangian dynamics: 2R example part 2]
* Newton-Euler inverse and forward dynamics of open chains, dynamics in task space (classes 16-17; Ahalya Prabhakar and Ben Richardson)
** [http://youtu.be/7Qg45A8AXbk Newton-Euler Inverse Dynamics, Part 1/3]
** [http://youtu.be/CTvJUfhVjhI Newton-Euler Inverse Dynamics, Part 2/3]
** [http://youtu.be/8BtVH2ZzM9s Newton-Euler Inverse Dynamics, Part 3/3]
** [http://youtu.be/xJU8yNuBcdc Forward Dynamics of Open Chains]
** [http://youtu.be/3a5SN7G6ipY Dynamics in Task Space Coordinates]

'''Trajectory Generation''', through Mon May 12

reading: Chapter 9, but you may skip 9.2 and 9.3
* definitions and time-optimal time scaling (classes 18-19; Wentao Chen and Chi Zhang)
** [http://www.youtube.com/watch?v=WzRJh-Xd0yo&feature=youtu.be#userconsent# Trajectory generation: definition]
** [http://www.youtube.com/watch?v=ZRJQhRoILnE&feature=youtu.be#userconsent# Time-optimal time-scaling]
** [https://www.youtube.com/watch?v=mPyIeWVBL88 (s, sdot) phase plane]
** [https://www.youtube.com/watch?v=llZUtyO7ULY Time-optimal time-scaling algorithm]
** [https://www.youtube.com/watch?v=Nqu_PMyZjcQ Assumptions and caveats]

'''Motion Planning''', through Wed May 21

reading: Chapter 10 through 10.5.1
* overview, foundations, and complete path planners (classes 20-21; Siddarth Jain)
** [http://youtu.be/DqExgvhLuvw Motion planning overview]
** [http://youtu.be/yWpUjoLOEr4 Types of motion planning]
** [http://youtu.be/KdQicahSJYI Configuration-space obstacles]
** [http://youtu.be/LKp8gR1C5qI Graphs and trees]
** [http://youtu.be/qsZB41VO4UU The search problem, heuristics and A* overview]
** [http://youtu.be/gQDGJl1p6Eo A* search]

* grid methods and the RRT sampling method (classes 22-23)

'''Robot Control'''

optional: Chapter 11

'''Grasping and Manipulation''', through Fri June 6

reading: Chapter 12
* contact kinematics, planar graphical methods, and form closure (classes 24-25)
* contact forces, planar graphical methods, and force closure, Chapter 12.2 (classes 26-27; Xiang Chen and Xiaobin Xiong)
* other manipulation, Chapter 12.3 (classes 28-29; Max Shepherd and Zack Woodruff)

==Archive==

* [[ME 449 Robotic Manipulation (Archive 2012)|ME 449 Spring 2012]]

File:ME449 2014 Solns HW4.pdf

2014-05-27T14:50:14Z

AdamBarber:

ME 449 Robotic Manipulation

2014-05-19T14:45:15Z

AdamBarber: /* Assignments */

'''Spring Quarter 2014'''

* Instructor: Prof. Kevin Lynch
* Office hours: Mon 3-4 PM, Wed 4-5 PM, Tech B222, Adam: Fri 2-3 PM (No office hours 5/2 or 5/5-5/9, Office Hours 5/1 from 11am-12am), Tech B230
* Meeting: 11-11:50 MWF, Tech LG68
* 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 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==
[[Media:park-lynch.pdf|"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.

[[Media:ME449-Summary-2014.pdf|Summary of important equations]].

==Assignments==

* [[Media:ME449-2014-hw1.pdf|Assignment 1]], due Monday 4/14 at the beginning of class [[Media:ME449_2014_Solns_HW1.pdf|Solutions]]
* [[Media:ME449-2014-hw2.pdf|Assignment 2]], due Monday 4/28 at the beginning of class [[Media:ME449_2014_Solns_HW2.pdf|Solutions]]
* [[Media:ME449-2014-hw3.pdf|Assignment 3]], due Monday 5/12 at the beginning of class [[Media:ME449_2014_Solns_HW3.pdf|Solutions]]
* [[Media:ME449-2014-hw4.pdf|Assignment 4]], due Wednesday 5/21 at the beginning of class

==Final Project==

==Approximate Syllabus==

Student videos are due at least 48 hours before the first class they will be used for.

'''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 (class 7; Patrick Afrifah and Matthew Patrick)
** [https://www.youtube.com/watch?v=_AyCzxO07P8&feature=youtu.be Intro to Product of Exponentials]
** [https://www.youtube.com/watch?v=fMj0mTJHi74&feature=youtu.be Intro 2 (Talking about alternative form of Product of Exponentials)]
** [https://www.youtube.com/watch?v=Kwl0OonLm9E&feature=youtu.be An example of product of exponentials]
** [https://www.youtube.com/watch?v=DLJKv2IPNWc Another example]

'''Velocity Kinematics and Statics''', through Wed April 23

reading: Chapter 5
* coordinate, space, and body Jacobians (classes 8-9)
* statics of open chains, singularities, manipulability (classes 10-11; Kevin Siegler and Andrew Welter)
** [https://www.youtube.com/watch?v=oVZcmeAOe5k&feature=youtu.be Spatial forces]
** [https://www.youtube.com/watch?v=PDjR1Zbq0Iw&feature=youtu.be Jacobian and joint torques]
** [https://www.youtube.com/watch?v=ckVp4z_AikM&feature=youtu.be Singularities]
** [https://www.youtube.com/watch?v=ZCIgWCGuEGM&feature=youtu.be A second singularity example]
** [https://www.youtube.com/watch?v=oDAfuscBXdc&feature=youtu.be Manipulability ellipsoid]

'''Inverse Kinematics''', through Mon April 28

reading: Chapter 6, but you may skip 6.1
* 2R example, numerical methods, and redundant open chains (classes 12-13)

'''Dynamics of Open Chains''', through Wed May 7

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 (classes 14-15; Harry Briggs and Stefan Hyde)
** [https://www.youtube.com/watch?v=opKvyzq-WzA&feature=youtu.be Dynamics of a rigid body in the body frame]
** [https://www.youtube.com/watch?v=DNSxaQJqOHs&feature=youtu.be Dynamics of a rigid body in the space frame]
** [https://www.youtube.com/watch?v=fLEJtElwfd8 Lagrangian dynamics]
** [https://www.youtube.com/watch?v=IUTUgVG9DDY Lagrangian dynamics: 2R example part 1]
** [https://www.youtube.com/watch?v=AEChG8BtfOY Lagrangian dynamics: 2R example part 2]
* Newton-Euler inverse and forward dynamics of open chains, dynamics in task space (classes 16-17; Ahalya Prabhakar and Ben Richardson)
** [http://youtu.be/7Qg45A8AXbk Newton-Euler Inverse Dynamics, Part 1/3]
** [http://youtu.be/CTvJUfhVjhI Newton-Euler Inverse Dynamics, Part 2/3]
** [http://youtu.be/8BtVH2ZzM9s Newton-Euler Inverse Dynamics, Part 3/3]
** [http://youtu.be/xJU8yNuBcdc Forward Dynamics of Open Chains]
** [http://youtu.be/3a5SN7G6ipY Dynamics in Task Space Coordinates]

'''Trajectory Generation''', through Mon May 12

reading: Chapter 9, but you may skip 9.2 and 9.3
* definitions and time-optimal time scaling (classes 18-19; Wentao Chen and Chi Zhang)
** [http://www.youtube.com/watch?v=WzRJh-Xd0yo&feature=youtu.be#userconsent# Trajectory generation: definition]
** [http://www.youtube.com/watch?v=ZRJQhRoILnE&feature=youtu.be#userconsent# Time-optimal time-scaling]
** [https://www.youtube.com/watch?v=mPyIeWVBL88 (s, sdot) phase plane]
** [https://www.youtube.com/watch?v=llZUtyO7ULY Time-optimal time-scaling algorithm]
** [https://www.youtube.com/watch?v=Nqu_PMyZjcQ Assumptions and caveats]

'''Motion Planning''', through Wed May 21

reading: Chapter 10 through 10.5.1
* overview, foundations, and complete path planners (classes 20-21; Siddarth Jain)
** [http://youtu.be/DqExgvhLuvw Motion planning overview]
** [http://youtu.be/yWpUjoLOEr4 Types of motion planning]
** [http://youtu.be/KdQicahSJYI Configuration-space obstacles]
** [http://youtu.be/LKp8gR1C5qI Graphs and trees]
** [http://youtu.be/qsZB41VO4UU The search problem, heuristics and A* overview]
** [http://youtu.be/gQDGJl1p6Eo A* search]

* grid methods and the RRT sampling method (classes 22-23)

'''Robot Control'''

optional: Chapter 11

'''Grasping and Manipulation''', through Wed June 4

reading: Chapter 12
* contact kinematics, planar graphical methods, and form closure (classes 24-25)
* contact forces, planar graphical methods, and force closure (classes 26-27; Xiang Chen and Xiaobin Xiong)
* other manipulation (classes 28-29; Max Shepherd and Zack Woodruff)

==Archive==

* [[ME 449 Robotic Manipulation (Archive 2012)|ME 449 Spring 2012]]

ME 449 Robotic Manipulation

2014-05-19T14:44:55Z

AdamBarber:

'''Spring Quarter 2014'''

* Instructor: Prof. Kevin Lynch
* Office hours: Mon 3-4 PM, Wed 4-5 PM, Tech B222, Adam: Fri 2-3 PM (No office hours 5/2 or 5/5-5/9, Office Hours 5/1 from 11am-12am), Tech B230
* Meeting: 11-11:50 MWF, Tech LG68
* 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 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==
[[Media:park-lynch.pdf|"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.

[[Media:ME449-Summary-2014.pdf|Summary of important equations]].

==Assignments==

* [[Media:ME449-2014-hw1.pdf|Assignment 1]], due Monday 4/14 at the beginning of class [[Media:ME449_2014_Solns_HW1.pdf|Solutions]]
* [[Media:ME449-2014-hw2.pdf|Assignment 2]], due Monday 4/28 at the beginning of class [[Media:ME449_2014_Solns_HW2.pdf|Solutions]]
* [[Media:ME449-2014-hw3.pdf|Assignment 3]], due Monday 5/12 at the beginning of class [[Media:ME449_2014_Solns_HW2.pdf|Solutions]]
* [[Media:ME449-2014-hw4.pdf|Assignment 4]], due Wednesday 5/21 at the beginning of class

==Final Project==

==Approximate Syllabus==

Student videos are due at least 48 hours before the first class they will be used for.

'''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 (class 7; Patrick Afrifah and Matthew Patrick)
** [https://www.youtube.com/watch?v=_AyCzxO07P8&feature=youtu.be Intro to Product of Exponentials]
** [https://www.youtube.com/watch?v=fMj0mTJHi74&feature=youtu.be Intro 2 (Talking about alternative form of Product of Exponentials)]
** [https://www.youtube.com/watch?v=Kwl0OonLm9E&feature=youtu.be An example of product of exponentials]
** [https://www.youtube.com/watch?v=DLJKv2IPNWc Another example]

'''Velocity Kinematics and Statics''', through Wed April 23

reading: Chapter 5
* coordinate, space, and body Jacobians (classes 8-9)
* statics of open chains, singularities, manipulability (classes 10-11; Kevin Siegler and Andrew Welter)
** [https://www.youtube.com/watch?v=oVZcmeAOe5k&feature=youtu.be Spatial forces]
** [https://www.youtube.com/watch?v=PDjR1Zbq0Iw&feature=youtu.be Jacobian and joint torques]
** [https://www.youtube.com/watch?v=ckVp4z_AikM&feature=youtu.be Singularities]
** [https://www.youtube.com/watch?v=ZCIgWCGuEGM&feature=youtu.be A second singularity example]
** [https://www.youtube.com/watch?v=oDAfuscBXdc&feature=youtu.be Manipulability ellipsoid]

'''Inverse Kinematics''', through Mon April 28

reading: Chapter 6, but you may skip 6.1
* 2R example, numerical methods, and redundant open chains (classes 12-13)

'''Dynamics of Open Chains''', through Wed May 7

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 (classes 14-15; Harry Briggs and Stefan Hyde)
** [https://www.youtube.com/watch?v=opKvyzq-WzA&feature=youtu.be Dynamics of a rigid body in the body frame]
** [https://www.youtube.com/watch?v=DNSxaQJqOHs&feature=youtu.be Dynamics of a rigid body in the space frame]
** [https://www.youtube.com/watch?v=fLEJtElwfd8 Lagrangian dynamics]
** [https://www.youtube.com/watch?v=IUTUgVG9DDY Lagrangian dynamics: 2R example part 1]
** [https://www.youtube.com/watch?v=AEChG8BtfOY Lagrangian dynamics: 2R example part 2]
* Newton-Euler inverse and forward dynamics of open chains, dynamics in task space (classes 16-17; Ahalya Prabhakar and Ben Richardson)
** [http://youtu.be/7Qg45A8AXbk Newton-Euler Inverse Dynamics, Part 1/3]
** [http://youtu.be/CTvJUfhVjhI Newton-Euler Inverse Dynamics, Part 2/3]
** [http://youtu.be/8BtVH2ZzM9s Newton-Euler Inverse Dynamics, Part 3/3]
** [http://youtu.be/xJU8yNuBcdc Forward Dynamics of Open Chains]
** [http://youtu.be/3a5SN7G6ipY Dynamics in Task Space Coordinates]

'''Trajectory Generation''', through Mon May 12

reading: Chapter 9, but you may skip 9.2 and 9.3
* definitions and time-optimal time scaling (classes 18-19; Wentao Chen and Chi Zhang)
** [http://www.youtube.com/watch?v=WzRJh-Xd0yo&feature=youtu.be#userconsent# Trajectory generation: definition]
** [http://www.youtube.com/watch?v=ZRJQhRoILnE&feature=youtu.be#userconsent# Time-optimal time-scaling]
** [https://www.youtube.com/watch?v=mPyIeWVBL88 (s, sdot) phase plane]
** [https://www.youtube.com/watch?v=llZUtyO7ULY Time-optimal time-scaling algorithm]
** [https://www.youtube.com/watch?v=Nqu_PMyZjcQ Assumptions and caveats]

'''Motion Planning''', through Wed May 21

reading: Chapter 10 through 10.5.1
* overview, foundations, and complete path planners (classes 20-21; Siddarth Jain)
** [http://youtu.be/DqExgvhLuvw Motion planning overview]
** [http://youtu.be/yWpUjoLOEr4 Types of motion planning]
** [http://youtu.be/KdQicahSJYI Configuration-space obstacles]
** [http://youtu.be/LKp8gR1C5qI Graphs and trees]
** [http://youtu.be/qsZB41VO4UU The search problem, heuristics and A* overview]
** [http://youtu.be/gQDGJl1p6Eo A* search]

* grid methods and the RRT sampling method (classes 22-23)

'''Robot Control'''

optional: Chapter 11

'''Grasping and Manipulation''', through Wed June 4

reading: Chapter 12
* contact kinematics, planar graphical methods, and form closure (classes 24-25)
* contact forces, planar graphical methods, and force closure (classes 26-27; Xiang Chen and Xiaobin Xiong)
* other manipulation (classes 28-29; Max Shepherd and Zack Woodruff)

==Archive==

* [[ME 449 Robotic Manipulation (Archive 2012)|ME 449 Spring 2012]]

File:ME449 2014 Solns HW3.pdf

2014-05-19T14:44:39Z

AdamBarber:

ME 449 Robotic Manipulation

2014-04-30T18:08:08Z

AdamBarber: /* Assignments */

File:ME449 2014 Solns HW2.pdf

2014-04-30T18:08:02Z

AdamBarber:

File:ME449 2014 Solns HW1.pdf

2014-04-30T18:07:39Z

AdamBarber:

ME 449 Robotic Manipulation

2014-04-30T15:04:27Z

AdamBarber:

ME 449 Robotic Manipulation

2014-04-22T19:57:10Z

AdamBarber:

'''Spring Quarter 2014'''

* Instructor: Prof. Kevin Lynch
* Office hours: Mon 3-4 PM, Wed 4-5 PM, Tech B222, Adam: Fri 2-3 PM, Tech B230
* Meeting: 11-11:50 MWF, Tech LG68
* 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 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==
[[Media:park-lynch.pdf|"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==

* [[Media:ME449-2014-hw1.pdf|Assignment 1]], due Monday 4/14 at the beginning of class
* [[Media:ME449-2014-hw2.pdf|Assignment 2]], due Monday 4/28 at the beginning of class

==Final Project==

==Approximate Syllabus==

Student videos are due at least 48 hours before the first class they will be used for.

'''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 (class 7; Patrick Afrifah and Matthew Patrick)
** [https://www.youtube.com/watch?v=_AyCzxO07P8&feature=youtu.be Intro to Product of Exponentials]
** [https://www.youtube.com/watch?v=fMj0mTJHi74&feature=youtu.be Intro 2 (Talking about alternative form of Product of Exponentials)]
** [https://www.youtube.com/watch?v=Kwl0OonLm9E&feature=youtu.be An example of product of exponentials]
** [https://www.youtube.com/watch?v=DLJKv2IPNWc Another example]

'''Velocity Kinematics and Statics''', through Wed April 23

reading: Chapter 5
* coordinate, space, and body Jacobians (classes 8-9)
* statics of open chains, singularities, manipulability (classes 10-11; Kevin Siegler and Andrew Welter)
** [https://www.youtube.com/watch?v=oVZcmeAOe5k&feature=youtu.be Spatial forces]
** [https://www.youtube.com/watch?v=PDjR1Zbq0Iw&feature=youtu.be Jacobian and joint torques]
** [https://www.youtube.com/watch?v=ckVp4z_AikM&feature=youtu.be Singularities]
** [https://www.youtube.com/watch?v=ZCIgWCGuEGM&feature=youtu.be A second singularity example]
** [https://www.youtube.com/watch?v=oDAfuscBXdc&feature=youtu.be Manipulability ellipsoid]

'''Inverse Kinematics''', through Mon April 28

reading: Chapter 6, but you may skip 6.1
* 2R example, numerical methods, and redundant open chains (classes 12-13)

'''Dynamics of Open Chains''', through Wed May 7

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 14-15; Harry Briggs and Stefan Hyde)
* Newton-Euler inverse and forward dynamics of open chains, dynamics in task space (classes 16-17; Ahalya Prabhakar and Ben Richardson)

'''Trajectory Generation''', through Mon May 12

reading: Chapter 9, but you may skip 9.2 and 9.3
* definitions and time-optimal time scaling (classes 18-19; Wentao Chen and Chi Zhang)

'''Motion Planning''', through Wed May 21

reading: Chapter 10 through 10.5.1
* overview, foundations, and complete path planners (classes 20-21; Siddharth Jain)
* grid methods and the RRT sampling method (classes 22-23)

'''Robot Control'''

optional: Chapter 11

'''Grasping and Manipulation''', through Wed June 4

reading: Chapter 12
* contact kinematics, planar graphical methods, and form closure (classes 24-25)
* contact forces, planar graphical methods, and force closure (classes 26-27; Xiang Chen and Xiaobin Xiong)
* other manipulation (classes 28-29; Max Shepherd and Zack Woodruff)

==Archive==

* [[ME 449 Robotic Manipulation (Archive 2012)|ME 449 Spring 2012]]