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ME 449 Robotic Manipulation (Archive Fall 2014) - Revision history
2026-05-19T03:10:57Z
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Lynch at 15:39, 21 September 2015
2015-09-21T15:39:32Z
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* [[Media:ME449-2014F-hwk1.pdf|Assignment 1]], due Thursday Oct 9 at the beginning of class <del style="font-weight: bold; text-decoration: none;">([[Media:ME449-2014F-hwk1-solutions.pdf|Solutions]])</del></div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* [[Media:ME449-2014F-hwk1.pdf|Assignment 1]], due Thursday Oct 9 at the beginning of class </div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* [[Media:ME449-2014F-hwk2.pdf|Assignment 2]], due Tuesday Oct 28 at the beginning of class <del style="font-weight: bold; text-decoration: none;">([[Media:ME449-2014F-hwk2-solutions.pdf|Solutions]])</del></div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* [[Media:ME449-2014F-hwk2.pdf|Assignment 2]], due Tuesday Oct 28 at the beginning of class </div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* [[Media:ME449-2014F-hwk3.pdf|Assignment 3]], due '''Tuesday Nov 11 at the beginning of class''' <strike>Thursday Nov 6 at the beginning of class</strike>. Be prepared to do a demo of your numerical inverse kinematics on a mystery manipulator! <del style="font-weight: bold; text-decoration: none;">([[Media:ME449-2014F-hwk3-solutions.pdf|Solutions]])</del></div></td>
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Lynch
https://hades.mech.northwestern.edu//index.php?title=ME_449_Robotic_Manipulation_(Archive_Fall_2014)&diff=23228&oldid=prev
Lynch: Created page with "'''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: ht..."
2015-09-21T15:31:26Z
<p>Created page with "'''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: ht..."</p>
<p><b>New page</b></p><div>'''Fall Quarter 2014'''<br />
<br />
* Instructor: Prof. Kevin Lynch<br />
* Office hours: Tech B221, Tues 4-5 PM, Wed 3:30-4:30 PM<br />
* Meeting: 12:30-1:50 TTh, Tech L221<br />
* course website: http://hades.mech.northwestern.edu/index.php/ME_449_Robotic_Manipulation<br />
<br />
==Course Summary==<br />
<br />
Mechanics of robotic manipulation, computer representations and algorithms for manipulation planning, and applications to industrial automation, parts feeding, grasping, fixturing, and assembly.<br />
<br />
==Grading==<br />
<br />
Grading for the course will be based on problem sets and a final project. There will be no exams. <br />
<br />
==Course Text==<br />
[[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.<br />
<br />
[[Media:ME449-Summary-2014.pdf|Summary of important equations]].<br />
<br />
==Assignments==<br />
<br />
* [[Media:ME449-2014F-hwk1.pdf|Assignment 1]], due Thursday Oct 9 at the beginning of class ([[Media:ME449-2014F-hwk1-solutions.pdf|Solutions]])<br />
* [[Media:ME449-2014F-hwk2.pdf|Assignment 2]], due Tuesday Oct 28 at the beginning of class ([[Media:ME449-2014F-hwk2-solutions.pdf|Solutions]])<br />
* [[Media:ME449-2014F-hwk3.pdf|Assignment 3]], due '''Tuesday Nov 11 at the beginning of class''' <strike>Thursday Nov 6 at the beginning of class</strike>. Be prepared to do a demo of your numerical inverse kinematics on a mystery manipulator! ([[Media:ME449-2014F-hwk3-solutions.pdf|Solutions]])<br />
* [[Media:ME449-2014F-hwk4.pdf|Assignment 4]], due Thursday Nov 20 at the beginning of class. ([[Media:ME449-2014F-hwk4-solutions-pt1.pdf|Solutions Part 1]],[[Media:ME449-2014F-hwk4-solutions-pt2.pdf|Solutions Part 2]])<br />
* [[Media:ME449-2014F-hwk5.pdf|Assignment 5]], due Wednesday Dec 10 at noon; final demos in the classroom at that time<br />
<br />
==Approximate Syllabus==<br />
<br />
'''Configuration Space'''<br />
<br />
reading: Chapter 2<br />
* degrees of freedom, Grubler's formula, parameterizations, holonomic and nonholonomic constraints <br />
<br />
'''Rigid-Body Motions''' <br />
<br />
reading: Chapter 3, but you may skim/skip 3.2.2, 3.2.4<br />
* rotation matrices, Euler angles, exponential coordinates, unit quaternions<br />
* angular velocities<br />
* rigid-body motions<br />
* spatial velocities<br />
<br />
'''Forward Kinematics'''<br />
<br />
reading: Chapter 4, but you may skim/skip 4.1 and 4.2.3<br />
* product of exponentials formula <br />
<br />
'''Velocity Kinematics and Statics'''<br />
<br />
reading: Chapter 5<br />
* coordinate, space, and body Jacobians <br />
* statics of open chains, singularities, manipulability <br />
<br />
'''Inverse Kinematics'''<br />
<br />
reading: Chapter 6, but you may skip 6.1<br />
* 2R example, numerical methods, and redundant open chains <br />
<br />
'''Dynamics of Open Chains'''<br />
<br />
reading: Chapter 8.1 and 8.2 on Lagrangian formulation, rest of the chapter on Newton-Euler and task space coords<br />
* Lagrangian formulation, dynamics of a single rigid body <br />
* Newton-Euler inverse and forward dynamics of open chains, dynamics in task space<br />
<br />
'''Trajectory Generation'''<br />
<br />
reading: Chapter 9, but you may skip 9.2 and 9.3<br />
* definitions and time-optimal time scaling <br />
<br />
'''Motion Planning'''<br />
<br />
reading: Chapter 10 through 10.5.1<br />
* overview, foundations, and complete path planners<br />
* grid methods and the RRT sampling method<br />
<br />
'''Robot Control'''<br />
<br />
optional: Chapter 11<br />
<br />
'''Grasping and Manipulation'''<br />
<br />
reading: Chapter 12<br />
* contact kinematics, planar graphical methods, and form closure<br />
* contact forces, planar graphical methods, and force closure, Chapter 12.2<br />
* other manipulation, Chapter 12.3</div>
Lynch