Difference between revisions of "ME 449 Robotic Manipulation"
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''' |
'''Fall Quarter 2014''' |
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* Instructor: Prof. Kevin Lynch |
* Instructor: Prof. Kevin Lynch |
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* Office hours: TBD |
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* Office hours: Mon 3-4 PM, Wed 4-5 PM, Tech B222, Adam: Tuesday 6/10 11am, Tech B230 |
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* Meeting: |
* Meeting: 12:30-1:50 TTh, Tech LG68 |
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* course website: http://hades.mech.northwestern.edu/index.php/ME_449_Robotic_Manipulation |
* course website: http://hades.mech.northwestern.edu/index.php/ME_449_Robotic_Manipulation |
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==Grading== |
==Grading== |
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Grading for the course will be based on |
Grading for the course will be based on problem sets and a final project. There will be no exams. |
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==Course Text== |
==Course Text== |
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==Assignments== |
==Assignments== |
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* [[Media:ME449-2014-hw1.pdf|Assignment 1]], due Monday 4/14 at the beginning of class [[Media:ME449_2014_Solns_HW1.pdf|Solutions]] |
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* [[Media:ME449-2014-hw2.pdf|Assignment 2]], due Monday 4/28 at the beginning of class [[Media:ME449_2014_Solns_HW2.pdf|Solutions]] |
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* [[Media:ME449-2014-hw3.pdf|Assignment 3]], due Monday 5/12 at the beginning of class [[Media:ME449_2014_Solns_HW3.pdf|Solutions]] |
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* [[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]] |
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* [[Media:ME449-2014-hw5.pdf|Assignment 5]], due Friday 5/30 at the beginning of class [[Media:ME449_2014_Solns_HW5.pdf|Solutions]] |
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* [[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]] |
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==Approximate Syllabus== |
==Approximate Syllabus== |
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Student videos are due at least 48 hours before the first class they will be used for. |
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'''Configuration Space''' |
'''Configuration Space''' |
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reading: Chapter 2 |
reading: Chapter 2 |
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* degrees of freedom, Grubler's formula, parameterizations, holonomic and nonholonomic constraints |
* degrees of freedom, Grubler's formula, parameterizations, holonomic and nonholonomic constraints |
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'''Rigid-Body Motions''' |
'''Rigid-Body Motions''' |
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reading: Chapter 3, but you may skim/skip 3.2.2, 3.2.4 |
reading: Chapter 3, but you may skim/skip 3.2.2, 3.2.4 |
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* spatial velocities |
* spatial velocities |
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'''Forward Kinematics''' |
'''Forward Kinematics''' |
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reading: Chapter 4, but you may skim/skip 4.1 and 4.2.3 |
reading: Chapter 4, but you may skim/skip 4.1 and 4.2.3 |
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* product of exponentials formula |
* product of exponentials formula |
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** [https://www.youtube.com/watch?v=_AyCzxO07P8&feature=youtu.be Intro to Product of Exponentials] |
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** [https://www.youtube.com/watch?v=fMj0mTJHi74&feature=youtu.be Intro 2 (Talking about alternative form of Product of Exponentials)] |
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** [https://www.youtube.com/watch?v=Kwl0OonLm9E&feature=youtu.be An example of product of exponentials] |
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** [https://www.youtube.com/watch?v=DLJKv2IPNWc Another example] |
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'''Velocity Kinematics and Statics''' |
'''Velocity Kinematics and Statics''' |
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reading: Chapter 5 |
reading: Chapter 5 |
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* coordinate, space, and body Jacobians |
* coordinate, space, and body Jacobians |
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* statics of open chains, singularities, manipulability |
* statics of open chains, singularities, manipulability |
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** [https://www.youtube.com/watch?v=oVZcmeAOe5k&feature=youtu.be Spatial forces] |
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** [https://www.youtube.com/watch?v=PDjR1Zbq0Iw&feature=youtu.be Jacobian and joint torques] |
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** [https://www.youtube.com/watch?v=ckVp4z_AikM&feature=youtu.be Singularities] |
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** [https://www.youtube.com/watch?v=ZCIgWCGuEGM&feature=youtu.be A second singularity example] |
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** [https://www.youtube.com/watch?v=oDAfuscBXdc&feature=youtu.be Manipulability ellipsoid] |
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'''Inverse Kinematics''' |
'''Inverse Kinematics''' |
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reading: Chapter 6, but you may skip 6.1 |
reading: Chapter 6, but you may skip 6.1 |
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* 2R example, numerical methods, and redundant open chains |
* 2R example, numerical methods, and redundant open chains |
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'''Dynamics of Open Chains''' |
'''Dynamics of Open Chains''' |
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reading: Chapter 8.1 and 8.2 on Lagrangian formulation, rest of the chapter on Newton-Euler and task space coords |
reading: Chapter 8.1 and 8.2 on Lagrangian formulation, rest of the chapter on Newton-Euler and task space coords |
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* Lagrangian formulation, dynamics of a single rigid body |
* Lagrangian formulation, dynamics of a single rigid body |
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** [https://www.youtube.com/watch?v=opKvyzq-WzA&feature=youtu.be Dynamics of a rigid body in the body frame] |
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** [https://www.youtube.com/watch?v=DNSxaQJqOHs&feature=youtu.be Dynamics of a rigid body in the space frame] |
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** [https://www.youtube.com/watch?v=fLEJtElwfd8 Lagrangian dynamics] |
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** [https://www.youtube.com/watch?v=IUTUgVG9DDY Lagrangian dynamics: 2R example part 1] |
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** [https://www.youtube.com/watch?v=AEChG8BtfOY Lagrangian dynamics: 2R example part 2] |
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** [http://youtu.be/7Qg45A8AXbk Newton-Euler Inverse Dynamics, Part 1/3] |
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** [http://youtu.be/CTvJUfhVjhI Newton-Euler Inverse Dynamics, Part 2/3] |
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** [http://youtu.be/8BtVH2ZzM9s Newton-Euler Inverse Dynamics, Part 3/3] |
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** [http://youtu.be/xJU8yNuBcdc Forward Dynamics of Open Chains] |
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** [http://youtu.be/3a5SN7G6ipY Dynamics in Task Space Coordinates] |
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'''Trajectory Generation''' |
'''Trajectory Generation''' |
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reading: Chapter 9, but you may skip 9.2 and 9.3 |
reading: Chapter 9, but you may skip 9.2 and 9.3 |
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* definitions and time-optimal time scaling |
* definitions and time-optimal time scaling |
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** [http://www.youtube.com/watch?v=WzRJh-Xd0yo&feature=youtu.be#userconsent# Trajectory generation: definition] |
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** [http://www.youtube.com/watch?v=ZRJQhRoILnE&feature=youtu.be#userconsent# Time-optimal time-scaling] |
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** [https://www.youtube.com/watch?v=mPyIeWVBL88 (s, sdot) phase plane] |
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** [https://www.youtube.com/watch?v=llZUtyO7ULY Time-optimal time-scaling algorithm] |
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** [https://www.youtube.com/watch?v=Nqu_PMyZjcQ Assumptions and caveats] |
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'''Motion Planning''' |
'''Motion Planning''' |
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reading: Chapter 10 through 10.5.1 |
reading: Chapter 10 through 10.5.1 |
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* overview, foundations, and complete path planners |
* overview, foundations, and complete path planners |
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** [http://youtu.be/DqExgvhLuvw Motion planning overview] |
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** [http://youtu.be/yWpUjoLOEr4 Types of motion planning] |
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** [http://youtu.be/KdQicahSJYI Configuration-space obstacles] |
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** [http://youtu.be/LKp8gR1C5qI Graphs and trees] |
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** [http://youtu.be/qsZB41VO4UU The search problem, heuristics and A* overview] |
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** [http://youtu.be/gQDGJl1p6Eo A* search] |
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'''Robot Control''' |
'''Robot Control''' |
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optional: Chapter 11 |
optional: Chapter 11 |
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'''Grasping and Manipulation''' |
'''Grasping and Manipulation''' |
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reading: Chapter 12 |
reading: Chapter 12 |
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* contact kinematics, planar graphical methods, and form closure |
* contact kinematics, planar graphical methods, and form closure |
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** [http://youtu.be/akC7GjYMr5g Contact forces] |
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** [http://youtu.be/h0PTT7K7emE The friction cone] |
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** [http://youtu.be/2wthJvwAXkU Wrench cones] |
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** [http://youtu.be/aGEBi-yHOZ8 Moment labeling for systems of planar forces] |
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** [http://youtu.be/nRWcjGy8NUg Force closure] |
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** [http://youtu.be/yeB57L1kaxA A condition for force closure of a rigid body] |
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** [http://youtu.be/SmrfKaEJaIQ Other manipulation] |
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** [http://youtu.be/u7yqipd0kMo Block balance example] |
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** [http://youtu.be/bD9WNG0lqEI Meter stick example] |
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** [http://youtu.be/jHhLUPiyuEw Arch example] |
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** [http://youtu.be/lHx-Upu_fIU Peg-in-hole example] |
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==Archive== |
==Archive== |
Revision as of 12:49, 22 September 2014
Fall Quarter 2014
- Instructor: Prof. Kevin Lynch
- Office hours: TBD
- Meeting: 12:30-1:50 TTh, 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 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
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