Difference between revisions of "ME 449 Robotic Manipulation"

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'''Fall Quarter 2015'''
'''Fall Quarter 2024'''
<!-- [[image:ME449-instructors-2022.jpg|1000px]] -->


* Instructor: Prof. Kevin Lynch
* Instructor: Prof. Kevin Lynch
* Course assistants: Luke Batteas, LukeBatteas2027@u.northwestern.edu; Yuxuan Mao, yuxuanmao2024@u.northwestern.edu; and Alex Soto, AlexanderTorresSoto2024@u.northwestern.edu
* Office hours: Tech B222, Monday 2-3, Tuesday 2-3
* Office hours: Mon 3-4 Tech B252 (Alex), Tues 3-4 Tech M434 (Yuxuan), Fri 1-2 Tech M434 (Luke)
* Meeting: 12:30-1:50 TTh, Tech A110
<!--4-5 PM Tuesday (TAs) and 2-3 PM Thursday (Lynch) by Zoom invitation in Canvas. '''Finals week only:''' TA office hours will be 4-5 PM Tuesday, as usual, and Lynch's office hours will be 1:30-2:30 Wednesday Dec 8 (office hours Thursday canceled)
* course website: http://hades.mech.northwestern.edu/index.php/ME_449_Robotic_Manipulation
-->
* Meeting: 2:00-2:50, MWF, '''Tech L361''' (first meeting: Wed Sept 25)
* Course website: [http://hades.mech.northwestern.edu/index.php/ME_449_Robotic_Manipulation http://hades.mech.northwestern.edu/index.php/ME_449_Robotic_Manipulation]
* Book website: [http://modernrobotics.org http://modernrobotics.org]
* '''[https://docs.google.com/forms/d/e/1FAIpQLSej7E9AaYomOEi5ToiNVum-_H7XdaJZ95Va__AIBPnB0xXZyg/viewform?usp=sf_link Click here to enter any questions you have on the lectures or reading that you would like to discuss in class.]'''


'''Supportive Class Environment'''
==Course Summary==


All members of this class (instructors, TAs, students) are expected to contribute to a respectful, inclusive, and supportive environment for every other member of the class.
Mechanics of robotic manipulation, computer representations and algorithms for manipulation planning, and applications to industrial automation, parts feeding, grasping, fixturing, and assembly.


We are ''partners'' in your education; help us help you get the most out of this class. Please engage as much as possible during our class meetings!
==Grading==


'''Honor Code'''
Grading for the course will be based on problem sets and a final project. There will be no exams.


You are encouraged to discuss the material with the instructor, course assistants, and your classmates, but you are not allowed to copy answers or code from others in the class or other sources, nor are you allowed to share your answers or code with others. If you use generative AI to help you with your work, you are obligated to cite the source and nature of the help; for example, if you turn in code generated in whole or in part by generative AI, you must cite the AI software in the comments, and you are required to understand how and why the code works. (Note also that electronics are not available during tests, so submitting code you do not understand will not help you prepare for tests.) ''Anyone copying answers or code, or providing answers or code, or becoming aware of others doing so without reporting to the instructor, is in violation of the honor code.''
==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.


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


If you need accommodation in this course because of a disability, contact [http://www.northwestern.edu/accessiblenu/ Accessible NU] immediately.
[http://www.it.northwestern.edu/software/matlab/obtain.html How to obtain Matlab]


'''Religious Holidays'''
==Assignments==


Provost's [https://www.northwestern.edu/provost/policies-procedures/classwork-curricular-policies/accommodations-for-religious-holidays.html statement] on accommodations for
'''Instructions for uploading assignments to Canvas:'''
[https://www.northwestern.edu/religious-life/explore-our-programs/religious-holidays.html religious holidays].


<!--
0. '''Upload on time!''' Late submissions are not accepted. The cutoff time is at the beginning of class on the day the assignment is due.


'''Other Syllabus Statements'''
1. Only upload one zip file or rar file for each assignment;


[https://www.registrar.northwestern.edu/faculty-staff/syllabi.html Here you can find other syllabus statements] regarding academic integrity (do not submit work that is not your own), accessibility, COVID-19 classroom expectations (wear a mask), COVID-19 testing for unvaccinated students, class modality, class recordings, prohibition of recordings of class sessions by students, and wellness and mental health.
2. In each zip file or rar file, include all source codes in their original form, such as .cpp, .m, .py, .nb. It will make our life much easier if the files are in their original format, instead of a pdf version of all codes;


Other information:
3. If there is a demo test, combine the screen shots into one pdf file, and include it in the zip file (or rar file).
* [https://www.northwestern.edu/coronavirus-covid-19-updates/index.html NU's COVID-19 update page]
* [https://www.northwestern.edu/coronavirus-covid-19-updates/university-status/summary.html COVID-19 Fall protocol page]
* [https://www.northwestern.edu/coronavirus-covid-19-updates/resources/frequently-asked-questions/academics.html Instructor FAQs]
-->


'''Getting Started'''
4. Please name the codes by their corresponding problem numbers.


Do the following things as soon as possible:
5. Please name the upload file in the following format: LastName_FirstName.zip.


* [[Modern Robotics#Book|Buy the book "Modern Robotics" or download the free electronic preprint version]]. (Though the Cambridge-published print version is the "official" version, the differences are mostly layout and either will work for this course.)
* [[Media:ME449-2015F-hwk1.pdf|Assignment 1]], due Thursday Oct 15 at the beginning of class
* [[Getting Started with the Modern Robotics Code Library|Download the Modern Robotics software]]. You can program in Python, MATLAB, or Mathematica. Most students use Python or MATLAB, but any of these is fine.
* [[Media:ME449-2015F-hwk2.pdf|Assignment 2]], due Tuesday Oct 27 at the beginning of class
* [[Getting Started with the CoppeliaSim Simulator|Download, install, and test the CoppeliaSim robot simulation software.]]
* Accept your invitation to the Coursera course.


==Course Summary==
==Visualizing Manipulators in MATLAB or ROS==
We provide two different methods for visualizing the motion of a robotic arm, one in MATLAB and the other in ROS. Choose whichever method sounds more appealing to you.


Representations of the configuration and spatial motion of rigid bodies and robots based on modern screw theory. Forward, inverse, and differential kinematics. Robot dynamics, trajectory planning, and motion control. Wheeled mobile robots and mobile manipulation.
===The Robotics Toolbox for MATLAB===
If you would like to use MATLAB, we recommend the [http://petercorke.com/Robotics_Toolbox.html Robotics Toolbox for MATLAB]. Please download the version we provide on the ME 449 wiki. We've made a minor change to the original code, so that the base and end-effector frames are shown by default. Instructions on how to visualize poses and animate arm trajectories can be found [[Media:MATLAB Robotics Toolbox Instructions.pdf|here]] and in the zip file below.


==Prerequisites==
'''Download''': [[Media:MATLAB Robotics Toolbox for ME449.zip|MATLAB Robotics Toolbox for ME 449]].


Linear algebra, first-order linear ODEs, freshman-level physics/mechanics, a bit of programming background.
===ROS/rviz===
If you would like to use [http://wiki.ros.org/rviz rviz], a visualization package in [http://wiki.ros.org/ ROS (Robot Operating System)], we provide installation and usage instructions for native Linux users and a virtual machine for Windows and Mac users.


==Grading==
Linux users, follow these instructions: [https://gist.github.com/sherifm/f76cab0e785943f9aadc Kinematics Tool Guide for Native ROS on Linux].
<!--
* 50% quizzes (quizzes will be open book, open notes, any cheat sheets you would like, but no electronics)
* 20% assignments (lowest grade will be dropped)
* 15% final project (due Wed Dec 11, during finals week)
* 10% practice exercise for other students
* 5% engagement: introducing yourself during office hours, answering questions in class, participation in in-class exercises, helping other students in class, participation in Coursera forums
-->


50% of your final grade will be from your Coursera grades (which I expect will be close to perfect) and 50% from the midterm and assignments outside of Coursera, including 15% midterm, 5% for asst 1, 5% for asst 2, 10% for asst 3, and 15% for asst 4 (the capstone project).
Windows and Mac users, you should follow these instructions: [https://gist.github.com/sherifm/ba54c406c4f4ae140594 Kinematics Tool Guide in a Virtual Machine (Mac, Windows)].


==Course Text and Software==
==Approximate Syllabus==


This course uses the textbook ''Modern Robotics: Mechanics, Planning, and Control'', Kevin M. Lynch and Frank C. Park, Cambridge University Press 2017. If you find an error or typo in the book, please '''[http://hades.mech.northwestern.edu/index.php/Modern_Robotics_Errata report it here].'''
'''Configuration Space'''


[[Coursera_Resources#Things_you_should_complete_before_taking_any_course|Get the book, install and test the Modern Robotics code library, and install and test the CoppeliaSim robot simulator.]] You will program in Python, Mathematica, or MATLAB in this course.
reading: Chapter 2
* degrees of freedom, Grubler's formula, parameterizations, holonomic and nonholonomic constraints


'''[[Modern Robotics Linear Algebra Review|Here is a linear algebra refresher appendix to accompany the book.]]'''
'''Rigid-Body Motions'''


==Approximate Syllabus and Schedule==
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


Here is a summary of the structure of the course. '''All items are due 30 minutes before the associated class time (1:30 PM Central). The deadlines are controlled by Coursera, so do not be late!''' You may work ahead if you wish, but then you won't get as much out of the classes.
'''Forward Kinematics'''
* Coursera refers to "weeks," but ignore this; our course modules are not a week long.
* Before some classes, you should complete a quiz on earlier material.
* Before most classes, you will watch the associated videos on Coursera and answer the "lecture comprehension" (LC) questions. (Designed to be relatively quick, to solidify your understanding.)
* You are encouraged to read the corresponding portions of the textbook after watching the videos. I suggest you watch first, then read, then possibly re-watch, but you can determine what works best for your learning style.
* During the class period '''after''' you watch those videos, I will typically summarize what we learned, work a problem, take any questions you have about the material, and possibly assign you a problem to work on.
* There are two kinds of assessments on Coursera (Coursera refers to both of them as "quizzes"): "lecture comprehension" questions (LCs), which are short and immediately follow lectures, and summative quizzes, which are usually longer assessments/assignments occurring at the middle or end of a chapter.
* Within Coursera there are also "discussion prompts," open-ended group questions that you should reply to (responses can be simple) and forums where you can post questions and reply to other students' questions.
* Assignments outside Coursera will be submitted through Canvas.


Below is the approximate syllabus and schedule. Next to each date is the Coursera material that should have been covered '''at least 30 minutes before''' that class. "LC" refers to brief lecture comprehension questions that should be completed before that class, and "quiz" is a longer summative quiz on earlier material.
reading: Chapter 4, but you may skim/skip 4.1 and 4.2.3
* product of exponentials formula


'''Chapter 2, Configuration Space'''
'''Velocity Kinematics and Statics'''
* Wed Sept 25: welcome to the course and syllabus review; intro to Coursera. '''The schedule for completing Coursera items is set by this wiki!'''
* Fri Sept 27: check for working CoppeliaSim implementation and summarize installation process for each OS; make sure Coursera invitation is accepted; material through Chapter 2.2 (3 videos and 2 LCs on dof of a robot) '''[[Media:MRslides-ch02a.pdf|CLASS SLIDES]]'''
* Mon Sept 30: meet the class; and material through Chapter 2.3 (quiz, Chapter 2 through 2.2; 2 videos and 2 LCs on C-space topology and representation) '''[[Media:MRslides-ch02b.pdf|CLASS SLIDES]]'''
* Wed Oct 2: finish Chapter 2 (2 videos and 2 LCs on configuration and velocity constraints, task space and workspace) '''[[Media:MRslides-ch02c.pdf|CLASS SLIDES]]'''
'''Chapter 3, Rigid-Body Motions'''
* Fri Oct 4: through Chapter 3.2.1 (quiz, Chapter 2.3 through 2.5; 3 videos and 3 LCs on rotation matrices SO(3)) '''[[Media:MRslides-ch03a.pdf|CLASS SLIDES]]'''
* Mon Oct 7: finish Chapter 3.2 (3 videos and 3 LCs on angular velocities, so(3), exponential coordinates) '''[[Media:MRslides-ch03b.pdf|CLASS SLIDES]]'''
* Wed Oct 9: Asst 1 assigned, due Wed Oct 11. New material: through Chapter 3.3.2 (quiz, Chapter 3 through 3.2; 3 videos and 3 LCs on transform matrices SE(3) and twists) '''[[Media:MRslides-ch03c.pdf|CLASS SLIDES]]'''
* Fri Oct 11: finish Chapter 3 (2 videos and 2 LCs on se(3), exponential coordinates, and wrenches) '''[[Media:MRslides-ch03d.pdf|CLASS SLIDES]]'''
'''Chapter 4, Forward Kinematics (skip section 4.2 on URDF)'''
* Mon Oct 14: finish Chapter 4 (quiz, Chapters 3.3 and 3.4; 3 videos and 3 LCs on product of exponentials formula, space and e-e frame) '''[[Media:MRslides-ch04a.pdf|CLASS SLIDES]]'''
'''Chapter 5, Velocity Kinematics and Statics'''
* Wed Oct 16: <s>'''ASST 1, DUE 1:30 PM'''.</s> New material: through Chapter 5.1 (quiz, Chapter 4; 3 videos and 3 LCs on space Jacobian, body Jacobian) '''[[Media:MRslides-ch05a.pdf|CLASS SLIDES]]'''
* Fri Oct 18: '''ASST 1, DUE 1:30 PM'''. New material: through Chapter 5.2 1 video and 1 LC on statics of open chains) '''[[Media:MRslides-ch05b.pdf|CLASS SLIDES]]'''
* Mon Oct 21: through Chapter 5.4 (2 videos and 2 LCs on singularity analysis, manipulability) '''[[Media:MRslides-ch05c.pdf|CLASS SLIDES]]'''
'''Chapter 6, Inverse Kinematics (focus on section 6.2)'''
* Wed Oct 23: Chapter 6 (quiz, Chapter 5; 3 videos and 3 LCs on numerical inverse kinematics) '''[[Media:MRslides-ch06a.pdf|CLASS SLIDES]]'''
'''Chapter 8, Dynamics of Open Chains (skip sections 8.4, 8.7, 8.8, and 8.9)'''
* Fri Oct 25: through Chapter 8.1.2 (quiz, Chapter 6; 2 videos and 2 LCs on Lagrangian dynamics) '''[[Media:MRslides-ch08a.pdf|CLASS SLIDES]]'''
* Mon Oct 28: New material: Chapter 8.1.3 (1 video and 1 LC on understanding the mass matrix) '''[[Media:MRslides-ch08b.pdf|CLASS SLIDES]]'''
* Wed Oct 30: '''MIDTERM''', chapters 2-5 (no electronic devices allowed [calculator, laptop, tablet, etc.]; study sheets and book allowed) '''[[Media:ME449-midterm-2022.pdf|2022 midterm]]''' and '''[[Media:ME449-midterm-solutions-2022.pdf|solutions]]''' (average score 22.9/32); '''[[Media:ME449-midterm-2023.pdf|2023 midterm]]''' and '''[[Media:ME449-midterm-solutions-2023.pdf|solutions]]'''; '''[[Media:ME449-midterm-2024.pdf|2024 midterm]]''' and '''[[Media:ME449-midterm-solutions-2024.pdf|solutions]]'''
* Fri Nov 1: Guest lecture by Dan L. Chapter 8.2 (2 videos and 2 LCs on dynamics of a single rigid body) '''[[Media:MRslides-ch08c.pdf|CLASS SLIDES]]'''
* Mon Nov 4: Chapter 8.3 and 8.5 (2 videos and 2 LCs on Newton-Euler inverse dynamics, forward dynamics; quiz, Chapter 8 through 8.3) '''[[Media:MRslides-ch08d.pdf|CLASS SLIDES]]'''
'''Chapter 9, Trajectory Generation'''
* Wed Nov 6: <s>'''ASST 2, DUE 1:30 PM'''.</s> New material: through Chapter 9.3 (3 videos and 3 LCs on point-to-point trajectories, polynomial via point trajectories) '''[[Media:MRslides-ch09a.pdf|CLASS SLIDES]]'''
* Fri Nov 8: '''ASST 2, DUE 1:30 PM'''. Chapter 9.4 (quiz, Chapter 9 through 9.3; 3 videos and 3 LCs on time-optimal time scaling) '''[[Media:MRslides-ch09b.pdf|CLASS SLIDES]]'''
* Mon Nov 11: Chapter 9.4 recap.
* Wed Nov 13: <s>'''ASST 3, DUE 1:30 PM.'''</s> Final project discussion
'''Chapter 11, Robot Control (focus on sections 11.1 through 11.4)'''
* Fri Nov 15: '''ASST 3, DUE 1:30 PM.''' New material: up to (not including) Chapter 11.2.2.1 (quiz, Chapter 9.4; 3 videos and 3 LCs on linear error dynamics) '''[[Media:MRslides-ch11a.pdf|CLASS SLIDES]]'''
* Mon Nov 18: finish Chapter 11.2.2 (2 videos and 2 LCs on first- and second-order error dynamics) '''[[Media:MRslides-ch11b.pdf|CLASS SLIDES]]'''
* Wed Nov 20: through Chapter 11.3 (3 videos and 3 LCs on motion control with velocity inputs) '''[[Media:MRslides-ch11c.pdf|CLASS SLIDES]]'''
* Fri Nov 22: '''CLASS CANCELED. Coursera material is still due.''' Chapter 11.4 (quiz, Chapter 11 through 11.3; 3 videos and 3 LCs on motion control with torque or force inputs) '''[[Media:MRslides-ch11d.pdf|CLASS SLIDES]]'''
'''Chapter 13, Wheeled Mobile Robots (skip section 13.3)'''
* Mon Nov 25: '''FINAL PROJECT MILESTONE 2, DUE 1:30 PM'''; new material through Chapter 13.2 (quiz, Chapter 11.4; 3 videos and 3 LCs on omnidirectional wheeled mobile robots) '''[[Media:MRslides-ch13a.pdf|CLASS SLIDES]]'''
* Wed Nov 27: CLASS CANCELED (Happy Thanksgiving!)
* Mon Dec 2: Chapter 13.4 (quiz, Chapter 13 through 13.2; 1 video and 1 LC on odometry) '''[[Media:MRslides-ch13b.pdf|CLASS SLIDES]]'''
* Wed Dec 4: Chapter 13.5 (1 video and 1 LC on mobile manipulation) '''[[Media:MRslides-ch13c.pdf|CLASS SLIDES]]'''
* Fri Dec 6: wrap-up
* Thurs Dec 12, noon: final project due


==Practice Exercises==
reading: Chapter 5
[[Modern_Robotics#Useful_Supplemental_Documents|Sample exercises and their solutions, useful for practicing your understanding of the material.]]
* coordinate, space, and body Jacobians
* statics of open chains, singularities, manipulability


== Practice Tests ==
'''Inverse Kinematics'''
* [[Media:ME449-midterm-2024.pdf|2024 midterm]] and [[Media:ME449-midterm-solutions-2024.pdf|2024 midterm solutions]]
* [[Media:ME449-midterm-2023.pdf|2023 midterm]] and [[Media:ME449-midterm-solutions-2023.pdf|2023 midterm solutions]]
* [[Media:ME449-midterm-2022.pdf|2022 midterm]] and [[Media:ME449-midterm-2022-solutions.pdf|2022 midterm solutions]]
* [[Media:ME449-quiz1-solutions-2019.pdf|Quiz 1, 2019]]
* Quiz 2, 2018: Exercises 4.2, 5.3, 6.1, 8.6, and 8.7 from [[Modern_Robotics#Useful_Supplemental_Documents|the practice exercises document]].
* [[Media:ME449-quiz1-2018.pdf|Quiz 1, 2018]]
<!--
==Student-Created Exercises==
-->
<!-- [https://docs.google.com/spreadsheets/d/1cIX4_U8lkWAL6LqQBgDrE5WX1TAmJaD6-ykG7GNACkI/edit?usp=sharing '''Click here for student exercise assignments.''']


'''Bring two printed copies to class Monday Nov 18, for feedback. Turn in the final version online on Wednesday Nov 20 at 1:30 PM, as two files: FamilyName_GivenName.pdf, with the pdf of the exercise and its solution, and FamilyName_GivenName.zip, with all the source files for your exercise taken from Overleaf. Also bring a printout to class on Wed Nov 20. If it is more than one page, staple it.'''
reading: Chapter 6, but you may skip 6.1
-->
* 2R example, numerical methods, and redundant open chains
<!--
All students will be responsible for creating a practice exercise, consisting of the exercise and the solution. A good exercise should test an important concept in the context of a real robotics application (e.g., motion planning for a quadrotor, robot localization, computer vision, grasping, etc.), require the learner to understand and apply equations in the book or use the book's software, and require a bit of thought (i.e., not just "plug and chug" questions). For many exercises, a good figure or two is helpful. You could use a figure of a real robot and add your own annotations to it (e.g., frames or objects in its environment), or you could hand-draw something, or you could use CoppeliaSim or other software to help create the figure. You should not confine your question to an application discussed in the textbook. Make your exercise interesting and motivating! Exercises that require synthesizing two or more concepts or equations are more interesting and useful. Think about what kind of exercise would have helped you to really understand the material. Your questions should be very clearly worded, so anyone can understand it without you having to be there to interpret it for them.


You should look at the practice exercise document and end-of-chapter exercises for inspiration, but obviously your exercises should not be copies.
'''Dynamics of Open Chains'''


You will create your exercise using [https://en.wikipedia.org/wiki/LaTeX LaTeX] (pronounced "lay teck" or "lah teck"), the standard for scientific document preparation. [https://www.overleaf.com/ Overleaf] is a free online implementation of LaTeX. To get started on your exercise,
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


# Download [[Media:ME449-exercise.zip|'''this .zip file''']] and uncompress it. There are five files: main.tex, prelims.tex, twist-wrench.pdf, table-lamp.PNG, and LampSolution.PNG.
'''Trajectory Generation'''
# Create an account on [https://www.overleaf.com/ Overleaf].
# Create a new (blank) project on Overleaf called "exercise."
# Upload the five files to this project. (You may get a warning that your default main.tex file is being overwritten; don't worry about it.)
# Click on main.tex to see your main LaTeX document.
# Press the "Recompile" button to see the pdf document that is compiled from the five files. You can download the pdf file, or all the "source" files, by clicking on "Menu" and choosing which to download. '''[[Media:ME449-exercise-output.pdf|This is the .pdf file you should have created.]]'''


main.tex is the main file of the project, and the only one that you will edit, so you should understand what is going on in that file. prelims.tex tells LaTeX what packages to use and defines some macros, e.g., \twist creates <math>\mathcal{V}</math> and \wrench creates <math>\mathcal{F}</math>. The other three files are image files that get included in the document. You will create different image files depending on your exercise. For example, you can make a nice hand drawing and then scan it.
reading: Chapter 9, but you may skip 9.2 and 9.3
* definitions and time-optimal time scaling


To learn more about typesetting in LaTeX, google is your friend! Try googling "latex math" or "latex math symbols," for example.
'''Motion Planning'''


You will turn in the source for your exercise as a zip file, as well as the final pdf file.
reading: Chapter 10 through 10.5.1
-->
* overview, foundations, and complete path planners
<!--
* grid methods and the RRT sampling method
The final student assignments to topics is given below:


[[File:StudentExercises2019.jpg|x400px]]
'''Robot Control'''
-->


==Assignments==
optional: Chapter 11


'''As mentioned above, in the Honor Code:''' You are encouraged to discuss the material with the instructor, course assistants, and your classmates, but you are not allowed to share your answers or code with others. Anyone asking for answers or code, or providing answers or code, or becoming aware of others doing so without reporting to the instructor, is considered in violation of the honor code.
'''Grasping and Manipulation'''


Assignments are graded based on correctness, how well you organize your homework (it should be easy to understand your thinking and easy to find your responses), and how well you follow the submission instructions below. You will lose points if you don't follow these instructions. If more detailed submission instructions are given with a particular assignment, make sure to follow those, too.
reading: Chapter 12

* contact kinematics, planar graphical methods, and form closure
'''You will not receive credit if you just give an answer. Your solution must demonstrate how you got the answer. It must be easy to follow.'''
* contact forces, planar graphical methods, and force closure, Chapter 12.2

* other manipulation, Chapter 12.3
If you ever think a problem is stated incorrectly, not enough information is given, or it is impossible to solve, don't panic! Simply make a reasonable assumption that will allow you to solve the problem (but clearly state what this assumption is), or indicate why it is not possible to solve the problem.

'''Instructions for uploading assignments to Canvas:'''

* '''Upload on time! Late submissions are not accepted.'''
* For every assignment, you should submit a single zip file, named FamilyName_GivenName_asst#.zip. This zip file should include a single pdf file with answers to all the questions, including screen shots, text logs of code running, etc. Always include output of your code running on the exercises, so the grader can see what you got when you ran your code. You may scan handwritten solutions (provided they are neat!), but in any case, all answers should be in a single pdf file. DO NOT UPLOAD SCANS AS JPGS! THEY MUST ALL BE COMPILED INTO A SINGLE PDF FILE.
* You may be asked to include in your zip file all source code in their original forms, such as .m, .py, or .nb. Always create a script that the grader can easily invoke to run your code for a particular exercise. Don't expect the grader to search through your code to find sample code to cut-and-paste. Make it as easy as possible for the grader (you can include a "README.txt" file in your zip file, for example, to tell the grader how everything works). Your code should be commented well enough that it is easy for someone else to pick it up and understand more or less how it works. All student-written code must be submitted; do not submit any standard MR code.
* If you include movies, keep them short and clear. They should only be a few MB in size. For example, you don't need super high resolution, 60 fps, etc.
* All plots should be labeled (axes, legends, titles) with appropriate units.

'''[http://hades.mech.northwestern.edu/index.php/ME_449_Assignment_1 Assignment 1]''', due 1:30 PM CT <s>Wednesday October 16</s> Friday October 18 on Canvas.

'''[[Media:ME449-asst2-2024.pdf|Assignment 2]]''', due 1:30 PM CT <s>Wednesday November 6</s> Friday November 8 on Canvas.

'''[[Media:ME449-asst3-2024.pdf|Assignment 3]]''', due 1:30 PM CT Friday November 15 on Canvas.

<!--
'''[[Media:ME449-asst3-2022.pdf|Assignment 3]]''', due 1:30 PM CT Wednesday November 10 on Canvas.
-->

<!--
'''[[Media:ME449-asst3-2020.pdf|Assignment 3]]''', due 1 PM CST Thursday November 5 on Canvas. (With the automatic one-day extension, it is now due at 1 PM CST Friday November 6 on Canvas. No assignment will be accepted after that time.)
-->
<!--
* '''Assignment 1, due 30 minutes before class on Canvas, Wed Oct 9.''' Exercises 2.1, 2.4, 2.5, 2.9(c) (mechanism (c) from Fig 2.18), 2.20, 2.31, 3.1, and 3.5.
* '''Assignment 2, due 30 minutes before class on Canvas, Wed Oct 16.''' Exercises 3.16, 3.26, 3.31, 4.2, 4.5, and 4.6.
* '''Assignment 3, due 30 minutes before class on Canvas, Wed Oct 23.''' Exercises 5.3(a,c,d,e) and 5.26.
* '''Assignment 4, due 30 minutes before class on Canvas, Wed Oct 30.''' [[Media:ME449-asst4-2019.pdf|The programming assignment described here]].
* '''Assignment 5, due 30 minutes before class on Canvas, Wed Nov 6.''' [[Media:ME449-asst5-2019.pdf|This assignment]] makes use of (approximate) [[Modern_Robotics#Supplemental_Information|dynamic parameters for the UR5 robot, given in MATLAB, Mathematica, and Python form]].

* '''Assignment 3, due 30 minutes before class on Canvas, Wed Oct 24.''' Exercises 4.2, 4.5, 4.14, 5.7, and 5.11(a).
* '''Assignment 4, due 30 minutes before class on Canvas, Wed Oct 31.''' Exercises 5.2, 5.25, 6.7, 6.8, and [[Media:IKexercise.pdf|this programming project]]. You should submit a zip file containing your answers to the four exercises plus the directory structure described in the programming project.
* '''Assignment 5, due 30 minutes before class on Canvas, Wed Nov 7.''' Book exercises 8.2 and 8.3, and [[Media:ME449-practice-81.pdf|practice exercise 8.1]].
* '''Assignment 6, due 30 minutes before class on Canvas, Wed Nov 14.''' Book exercise 8.14 (turn in your code), book exercise 8.15 (make a video of the motion using V-REP), and practice exercise 9.1(a), trajectory planning for the WAM robot. For each trajectory in 9.1(a), plot the (x,y,z) components of the trajectory and the three exponential coordinates of rotation of the trajectory (each taken from the transformation matrices) as a function of time. Make sure your plots are labeled so we can tell which curve is which.
* [http://hades.mech.northwestern.edu/index.php/Mobile_Manipulation_Capstone '''CAPSTONE PROJECT''']. We will do milestone 2 first, then 1, 3, 4 to complete it.
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==Final Project: Mobile Manipulation==
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'''Office hours for capstone:''' We will have office hours at the normal times (Tues 9 AM, Wed 7:30 PM) on Dec 1 and 2 during finals week, and one bonus office hour at 9 AM CDT Friday Dec 4. The Dec 4 office hour will be in our class Zoom room.
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The final project is described [http://hades.mech.northwestern.edu/index.php/Mobile_Manipulation_Capstone_2024 '''on this page''']. It is due in Canvas on Thursday December 12 at noon.

* '''Due Monday November 25 at 1:30 PM on Canvas''': Milestone 2. ''(You will do milestone 2 first! Milestone 1 will come next.)'' You will turn in a single zip file named FamilyName_GivenName_milestone2.zip with your solution to milestone 2. The zip file should include a README.pdf file with a brief summary of your solution and how to use it, and if your code is not working properly, it should correctly point out the problems. The zip file should also include a directory with the commented code you wrote, including a cut-and-pastable comment at the beginning showing how to execute the code to generate the csv file included in the submission; a CoppeliaSim video showing your reference trajectory of the end-effector (similar to [https://www.youtube.com/watch?v=8d_cYwV58lI&feature=youtu.be this video]); and the csv file that your code generated to create the video.
* ''' Due Thursday December 12 at 12:00 PM (noon) on Canvas''': The entire final writeup in a single zip file named FamilyName_GivenName_capstone.zip. '''You may earn up to 10% extra credit on the capstone project by implementing singularity and self-collision avoidance.''' See the description of the final project writeup.

<!--
Reminders:
# Read and follow closely the instructions on what to submit! If you are missing requested files, or if you use a different directory structure, you will lose points. Make sure your top-level README file is clear on what you've done and what you've submitted.
# If your code does not work well, please describe the remaining issues in your README file. Don't gloss over them or only provide examples where the code works well if the code does not work well for other example problems. Otherwise, if the graders find problems with your software, you will not receive credit for having identified them yourself.
# You can get up to 10 pts of extra credit for correctly implementing joint-limit avoidance (so the robot links and chassis do not self-intersect) and singularity avoidance (e.g., using joint limits that keep the arm in a portion of its workspace where it does not encounter any singularities). If you implement these, you should submit examples of your code solving the same problem two ways---not using joint-limit avoidance and using it---so the usefulness of the joint-limit avoidance is apparent. '''Also, your README file should clearly describe your approach to solving joint-limit and singularity avoidance.'''
# Make sure to keep your problem inputs separate from the code. The exact same code should solve all your problem instances; you shouldn't have different copies of your code for different problem inputs. You could have an input file for each of your examples (e.g., bestScript, overshootScript, newTaskScript) which defines the inputs (e.g., block configurations, controller gains, initial robot configuration) and invokes your code. Then a grader just needs to invoke those scripts to verify your results. (If you implemented joint-limit avoidance, this could just be one of your inputs, e.g., a variable called "avoidJointLimits" which is 0 if you don't care about avoiding joint limits and 1 if you do.)
# Make sure your videos are good quality. They shouldn't be too fast (at least 5 seconds long) or low resolution. The motion should be smooth.
# If your code is written in Python, indicate which version of Python should be used.
# '''Only submit the code that you wrote.''' DO NOT submit MR library functions. The TAs will test your code using the MR library functions imported into MATLAB or Python as appropriate.
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* [[ME 449 Robotic Manipulation (Archive Fall 2014)|ME 449 Fall 2014]]
* [[ME 449 Robotic Manipulation (Archive Fall 2015)|ME 449 Fall 2015]]
* [[ME 449 Robotic Manipulation (Archive Fall 2016)|ME 449 Fall 2016]]
* [[ME 449 Robotic Manipulation (Archive Fall 2017)|ME 449 Fall 2017]]
* [[ME 449 Robotic Manipulation (Archive Fall 2018)|ME 449 Fall 2018]]
* [[ME 449 Robotic Manipulation (Archive Fall 2019)|ME 449 Fall 2019]]
* [[ME 449 Robotic Manipulation (Archive Fall 2020)|ME 449 Fall 2020]]
* [[ME 449 Robotic Manipulation (Archive Fall 2021)|ME 449 Fall 2021]]
* [[ME 449 Robotic Manipulation (Archive Fall 2021)|ME 449 Fall 2021]]
* [[ME 449 Robotic Manipulation (Archive Fall 2022)|ME 449 Fall 2022]]
* [[ME 449 Robotic Manipulation (Archive Fall 2023)|ME 449 Fall 2023]]
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Latest revision as of 13:50, 20 November 2024

Fall Quarter 2024

Supportive Class Environment

All members of this class (instructors, TAs, students) are expected to contribute to a respectful, inclusive, and supportive environment for every other member of the class.

We are partners in your education; help us help you get the most out of this class. Please engage as much as possible during our class meetings!

Honor Code

You are encouraged to discuss the material with the instructor, course assistants, and your classmates, but you are not allowed to copy answers or code from others in the class or other sources, nor are you allowed to share your answers or code with others. If you use generative AI to help you with your work, you are obligated to cite the source and nature of the help; for example, if you turn in code generated in whole or in part by generative AI, you must cite the AI software in the comments, and you are required to understand how and why the code works. (Note also that electronics are not available during tests, so submitting code you do not understand will not help you prepare for tests.) Anyone copying answers or code, or providing answers or code, or becoming aware of others doing so without reporting to the instructor, is in violation of the honor code.

Accessible NU

If you need accommodation in this course because of a disability, contact Accessible NU immediately.

Religious Holidays

Provost's statement on accommodations for religious holidays.


Getting Started

Do the following things as soon as possible:

Course Summary

Representations of the configuration and spatial motion of rigid bodies and robots based on modern screw theory. Forward, inverse, and differential kinematics. Robot dynamics, trajectory planning, and motion control. Wheeled mobile robots and mobile manipulation.

Prerequisites

Linear algebra, first-order linear ODEs, freshman-level physics/mechanics, a bit of programming background.

Grading

50% of your final grade will be from your Coursera grades (which I expect will be close to perfect) and 50% from the midterm and assignments outside of Coursera, including 15% midterm, 5% for asst 1, 5% for asst 2, 10% for asst 3, and 15% for asst 4 (the capstone project).

Course Text and Software

This course uses the textbook Modern Robotics: Mechanics, Planning, and Control, Kevin M. Lynch and Frank C. Park, Cambridge University Press 2017. If you find an error or typo in the book, please report it here.

Get the book, install and test the Modern Robotics code library, and install and test the CoppeliaSim robot simulator. You will program in Python, Mathematica, or MATLAB in this course.

Here is a linear algebra refresher appendix to accompany the book.

Approximate Syllabus and Schedule

Here is a summary of the structure of the course. All items are due 30 minutes before the associated class time (1:30 PM Central). The deadlines are controlled by Coursera, so do not be late! You may work ahead if you wish, but then you won't get as much out of the classes.

  • Coursera refers to "weeks," but ignore this; our course modules are not a week long.
  • Before some classes, you should complete a quiz on earlier material.
  • Before most classes, you will watch the associated videos on Coursera and answer the "lecture comprehension" (LC) questions. (Designed to be relatively quick, to solidify your understanding.)
  • You are encouraged to read the corresponding portions of the textbook after watching the videos. I suggest you watch first, then read, then possibly re-watch, but you can determine what works best for your learning style.
  • During the class period after you watch those videos, I will typically summarize what we learned, work a problem, take any questions you have about the material, and possibly assign you a problem to work on.
  • There are two kinds of assessments on Coursera (Coursera refers to both of them as "quizzes"): "lecture comprehension" questions (LCs), which are short and immediately follow lectures, and summative quizzes, which are usually longer assessments/assignments occurring at the middle or end of a chapter.
  • Within Coursera there are also "discussion prompts," open-ended group questions that you should reply to (responses can be simple) and forums where you can post questions and reply to other students' questions.
  • Assignments outside Coursera will be submitted through Canvas.

Below is the approximate syllabus and schedule. Next to each date is the Coursera material that should have been covered at least 30 minutes before that class. "LC" refers to brief lecture comprehension questions that should be completed before that class, and "quiz" is a longer summative quiz on earlier material.

Chapter 2, Configuration Space

  • Wed Sept 25: welcome to the course and syllabus review; intro to Coursera. The schedule for completing Coursera items is set by this wiki!
  • Fri Sept 27: check for working CoppeliaSim implementation and summarize installation process for each OS; make sure Coursera invitation is accepted; material through Chapter 2.2 (3 videos and 2 LCs on dof of a robot) CLASS SLIDES
  • Mon Sept 30: meet the class; and material through Chapter 2.3 (quiz, Chapter 2 through 2.2; 2 videos and 2 LCs on C-space topology and representation) CLASS SLIDES
  • Wed Oct 2: finish Chapter 2 (2 videos and 2 LCs on configuration and velocity constraints, task space and workspace) CLASS SLIDES

Chapter 3, Rigid-Body Motions

  • Fri Oct 4: through Chapter 3.2.1 (quiz, Chapter 2.3 through 2.5; 3 videos and 3 LCs on rotation matrices SO(3)) CLASS SLIDES
  • Mon Oct 7: finish Chapter 3.2 (3 videos and 3 LCs on angular velocities, so(3), exponential coordinates) CLASS SLIDES
  • Wed Oct 9: Asst 1 assigned, due Wed Oct 11. New material: through Chapter 3.3.2 (quiz, Chapter 3 through 3.2; 3 videos and 3 LCs on transform matrices SE(3) and twists) CLASS SLIDES
  • Fri Oct 11: finish Chapter 3 (2 videos and 2 LCs on se(3), exponential coordinates, and wrenches) CLASS SLIDES

Chapter 4, Forward Kinematics (skip section 4.2 on URDF)

  • Mon Oct 14: finish Chapter 4 (quiz, Chapters 3.3 and 3.4; 3 videos and 3 LCs on product of exponentials formula, space and e-e frame) CLASS SLIDES

Chapter 5, Velocity Kinematics and Statics

  • Wed Oct 16: ASST 1, DUE 1:30 PM. New material: through Chapter 5.1 (quiz, Chapter 4; 3 videos and 3 LCs on space Jacobian, body Jacobian) CLASS SLIDES
  • Fri Oct 18: ASST 1, DUE 1:30 PM. New material: through Chapter 5.2 1 video and 1 LC on statics of open chains) CLASS SLIDES
  • Mon Oct 21: through Chapter 5.4 (2 videos and 2 LCs on singularity analysis, manipulability) CLASS SLIDES

Chapter 6, Inverse Kinematics (focus on section 6.2)

  • Wed Oct 23: Chapter 6 (quiz, Chapter 5; 3 videos and 3 LCs on numerical inverse kinematics) CLASS SLIDES

Chapter 8, Dynamics of Open Chains (skip sections 8.4, 8.7, 8.8, and 8.9)

  • Fri Oct 25: through Chapter 8.1.2 (quiz, Chapter 6; 2 videos and 2 LCs on Lagrangian dynamics) CLASS SLIDES
  • Mon Oct 28: New material: Chapter 8.1.3 (1 video and 1 LC on understanding the mass matrix) CLASS SLIDES
  • Wed Oct 30: MIDTERM, chapters 2-5 (no electronic devices allowed [calculator, laptop, tablet, etc.]; study sheets and book allowed) 2022 midterm and solutions (average score 22.9/32); 2023 midterm and solutions; 2024 midterm and solutions
  • Fri Nov 1: Guest lecture by Dan L. Chapter 8.2 (2 videos and 2 LCs on dynamics of a single rigid body) CLASS SLIDES
  • Mon Nov 4: Chapter 8.3 and 8.5 (2 videos and 2 LCs on Newton-Euler inverse dynamics, forward dynamics; quiz, Chapter 8 through 8.3) CLASS SLIDES

Chapter 9, Trajectory Generation

  • Wed Nov 6: ASST 2, DUE 1:30 PM. New material: through Chapter 9.3 (3 videos and 3 LCs on point-to-point trajectories, polynomial via point trajectories) CLASS SLIDES
  • Fri Nov 8: ASST 2, DUE 1:30 PM. Chapter 9.4 (quiz, Chapter 9 through 9.3; 3 videos and 3 LCs on time-optimal time scaling) CLASS SLIDES
  • Mon Nov 11: Chapter 9.4 recap.
  • Wed Nov 13: ASST 3, DUE 1:30 PM. Final project discussion

Chapter 11, Robot Control (focus on sections 11.1 through 11.4)

  • Fri Nov 15: ASST 3, DUE 1:30 PM. New material: up to (not including) Chapter 11.2.2.1 (quiz, Chapter 9.4; 3 videos and 3 LCs on linear error dynamics) CLASS SLIDES
  • Mon Nov 18: finish Chapter 11.2.2 (2 videos and 2 LCs on first- and second-order error dynamics) CLASS SLIDES
  • Wed Nov 20: through Chapter 11.3 (3 videos and 3 LCs on motion control with velocity inputs) CLASS SLIDES
  • Fri Nov 22: CLASS CANCELED. Coursera material is still due. Chapter 11.4 (quiz, Chapter 11 through 11.3; 3 videos and 3 LCs on motion control with torque or force inputs) CLASS SLIDES

Chapter 13, Wheeled Mobile Robots (skip section 13.3)

  • Mon Nov 25: FINAL PROJECT MILESTONE 2, DUE 1:30 PM; new material through Chapter 13.2 (quiz, Chapter 11.4; 3 videos and 3 LCs on omnidirectional wheeled mobile robots) CLASS SLIDES
  • Wed Nov 27: CLASS CANCELED (Happy Thanksgiving!)
  • Mon Dec 2: Chapter 13.4 (quiz, Chapter 13 through 13.2; 1 video and 1 LC on odometry) CLASS SLIDES
  • Wed Dec 4: Chapter 13.5 (1 video and 1 LC on mobile manipulation) CLASS SLIDES
  • Fri Dec 6: wrap-up
  • Thurs Dec 12, noon: final project due

Practice Exercises

Sample exercises and their solutions, useful for practicing your understanding of the material.

Practice Tests

Assignments

As mentioned above, in the Honor Code: You are encouraged to discuss the material with the instructor, course assistants, and your classmates, but you are not allowed to share your answers or code with others. Anyone asking for answers or code, or providing answers or code, or becoming aware of others doing so without reporting to the instructor, is considered in violation of the honor code.

Assignments are graded based on correctness, how well you organize your homework (it should be easy to understand your thinking and easy to find your responses), and how well you follow the submission instructions below. You will lose points if you don't follow these instructions. If more detailed submission instructions are given with a particular assignment, make sure to follow those, too.

You will not receive credit if you just give an answer. Your solution must demonstrate how you got the answer. It must be easy to follow.

If you ever think a problem is stated incorrectly, not enough information is given, or it is impossible to solve, don't panic! Simply make a reasonable assumption that will allow you to solve the problem (but clearly state what this assumption is), or indicate why it is not possible to solve the problem.

Instructions for uploading assignments to Canvas:

  • Upload on time! Late submissions are not accepted.
  • For every assignment, you should submit a single zip file, named FamilyName_GivenName_asst#.zip. This zip file should include a single pdf file with answers to all the questions, including screen shots, text logs of code running, etc. Always include output of your code running on the exercises, so the grader can see what you got when you ran your code. You may scan handwritten solutions (provided they are neat!), but in any case, all answers should be in a single pdf file. DO NOT UPLOAD SCANS AS JPGS! THEY MUST ALL BE COMPILED INTO A SINGLE PDF FILE.
  • You may be asked to include in your zip file all source code in their original forms, such as .m, .py, or .nb. Always create a script that the grader can easily invoke to run your code for a particular exercise. Don't expect the grader to search through your code to find sample code to cut-and-paste. Make it as easy as possible for the grader (you can include a "README.txt" file in your zip file, for example, to tell the grader how everything works). Your code should be commented well enough that it is easy for someone else to pick it up and understand more or less how it works. All student-written code must be submitted; do not submit any standard MR code.
  • If you include movies, keep them short and clear. They should only be a few MB in size. For example, you don't need super high resolution, 60 fps, etc.
  • All plots should be labeled (axes, legends, titles) with appropriate units.

Assignment 1, due 1:30 PM CT Wednesday October 16 Friday October 18 on Canvas.

Assignment 2, due 1:30 PM CT Wednesday November 6 Friday November 8 on Canvas.

Assignment 3, due 1:30 PM CT Friday November 15 on Canvas.


Final Project: Mobile Manipulation

The final project is described on this page. It is due in Canvas on Thursday December 12 at noon.

  • Due Monday November 25 at 1:30 PM on Canvas: Milestone 2. (You will do milestone 2 first! Milestone 1 will come next.) You will turn in a single zip file named FamilyName_GivenName_milestone2.zip with your solution to milestone 2. The zip file should include a README.pdf file with a brief summary of your solution and how to use it, and if your code is not working properly, it should correctly point out the problems. The zip file should also include a directory with the commented code you wrote, including a cut-and-pastable comment at the beginning showing how to execute the code to generate the csv file included in the submission; a CoppeliaSim video showing your reference trajectory of the end-effector (similar to this video); and the csv file that your code generated to create the video.
  • Due Thursday December 12 at 12:00 PM (noon) on Canvas: The entire final writeup in a single zip file named FamilyName_GivenName_capstone.zip. You may earn up to 10% extra credit on the capstone project by implementing singularity and self-collision avoidance. See the description of the final project writeup.


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