View source for ME 449 Robotic Manipulation (Archive 2012)

'''Spring Quarter 2012'''

* Instructor:  Prof. Kevin Lynch
* Meeting:  12:30-1:50, Tues Thurs, LG72
* 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. 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 ([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.

==Approximate Syllabus==


'''KINEMATICS'''

: Representations of motion

: '''Reading''': Mason pp. 1-19, 41-47, 58-60; 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)

: 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

:: * forces and moment; wrenches
:: * adjoint transformation and changing frames
:: * combinations of forces and polyhedral convex wrench cones
:: * planar case:  moment labeling

: Contact modeling with friction

:: * 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
<!--
:: * principle of maximum dissipation
:: * maximum power inequality and anisotropic friction
-->

: Static and quasistatic manipulation

:: * 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:  pipe clamp, meter stick, toppling, peg-in-hole, etc.

: Planar contact patches, limit surfaces, and pushing

:: * limit surface
:: * pushing


'''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-->


'''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'''

:: * Newton, Poisson, and Stronge restitution coefficients
:: * 3D impact