Difference between revisions of "ME 449 Robotic Manipulation"

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'''Fall Quarter 2017'''
'''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
* Meeting: 2:00-2:50, MWF, Abbott Auditorium Pancoe
* Office hours: Mon 3-4 Tech B252 (Alex), Tues 3-4 Tech M434 (Yuxuan), Fri 1-2 Tech M434 (Luke)
* TAs: Huan Weng, HuanWeng2015@u.northwestern.edu, and Taosha Fan, TaoshaFan2015@u.northwestern.edu
<!--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)
* Office hours: Tech B222, MW 3-4 (Lynch), Tech A211 Tues 2-3:30 (Weng or Fan)
-->
* 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==
* 50% quizzes
* 35% assignments (HWs, video/reading comprehension "quick quizzes," in-class assignments; low scores dropped)
* 10% student lecture and learning materials
* 5% engagement and providing helpful feedback to other students


'''Honor Code'''
==Course Text and Software==


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.''
All of these resources are available at [[Modern_Robotics|'''the homepage for the book''']].


'''Accessible NU'''
* Get the book. Purchase the printed book, published by Cambridge University Press, or download the preprint version of the book.
* [https://github.com/NxRLab/ModernRobotics '''Download the book software from GitHub.''']
* [http://www.coppeliarobotics.com/ '''Download the V-REP robot simulator.'''] After you've installed it, choose "File > Open scene..." and open any of the scenes. Press the "Play" button and verify that the simulator is working. [[V-REP_Introduction|'''Click here for information about the simulator, and the ME 449 scenes for the UR5 and youbot mobile manipulator.''']]


If you need accommodation in this course because of a disability, contact [http://www.northwestern.edu/accessiblenu/ Accessible NU] immediately.
==Video Lectures==


'''Religious Holidays'''
Video supplements to the reading can be found at [http://modernrobotics.northwestern.edu '''http://modernrobotics.northwestern.edu''']. If you prefer to watch the videos as playlists in the youtube environment, you can [[Modern_Robotics_Videos|'''go here instead''']]. These links are also available from the [[Modern_Robotics|'''book's homepage''']].


Provost's [https://www.northwestern.edu/provost/policies-procedures/classwork-curricular-policies/accommodations-for-religious-holidays.html statement] on accommodations for
In general, I recommend that you first watch the videos to get a quick understanding of the material of the chapter, then follow up by reading. The videos are short and dense, so don't expect to get by only watching the videos. You will need to read the book, then do the exercises, to gain mastery of the material.
[https://www.northwestern.edu/religious-life/explore-our-programs/religious-holidays.html religious holidays].


<!--
==Student Lectures==


'''Other Syllabus Statements'''
Each student will work in a small team to deliver one lecture during the quarter. Your lecture should not be too similar to the video lectures already online. The main purposes of the student lectures are
* To provide your fellow students another perspective, other than my own, on the material. Maybe your way of explaining it will be more intuitive than mine, at least for some people. Unlike my lectures, which cover a lot of ground quickly, your lecture should have at least one worked example and slow things down a bit. You don't have to cover '''all''' topics of the videos and reading that were due for that day. You can choose one or a subset of topics and slow down. You can even choose a topic in that day's reading that is not covered in the videos.
* To generate new learning materials that others can benefit from. These could be posted to the book website (e.g., worked exercises, videos, etc.).
* To have you take ownership of your learning. There is no better way to learn the material than to figure out how to teach it.


[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.
On a student lecture day, this is a general (but flexible) guideline:
* 5 minutes for the video/reading comprehension "quick quiz."
* 15 minutes lecture. How you do your lecture is up to you, but everyone in the lecture team should be involved. You could make a video and then play it in front of the class, and then take questions. You could write on the chalkboard. You could use props, or videos you find online, or animations you make. You could ask questions and involve the class. You should work through at least one example or exercise that you create (not one from the book) that makes some of the concepts concrete. An ideal lecture would be engaging and informative.
* 5 minutes of constructive feedback from the class (what worked well, what could have been clearer, but always constructive).
* 25 minutes of the class working in small groups on an assignment you give. Ideally the assignment would be interesting and challenging, and would elicit questions if students don't fully understand the material. Students do not necessarily have to be able to get a "right" answer in the timeframe of the class; the assignment should just help them to learn. The assignment cannot be taken from the book. The student lecturers and the instructors will circulate and help the small groups. Small groups of students will turn in their group work at the end of class. Each assignment should have the names of the group members who worked on it.


Other information:
After your lecture, within one week your lecture team should provide me with:
* [https://www.northwestern.edu/coronavirus-covid-19-updates/index.html NU's COVID-19 update page]
* [Whole team] A video of your lecture. You should arrange for a classmate to take a video of your lecture (e.g., with a cell phone propped up against books, so it doesn't move). Then post the lecture to YouTube and send me the link. You can keep the video private or you can make it public; up to you.
* [https://www.northwestern.edu/coronavirus-covid-19-updates/university-status/summary.html COVID-19 Fall protocol page]
* [Whole team] An electronic version of your in-class assignment with solution, suitable for posting to the website. A pdf file is probably the best format.
* [https://www.northwestern.edu/coronavirus-covid-19-updates/resources/frequently-asked-questions/academics.html Instructor FAQs]
* [Each member of the team] Each member of the team should confidentially email me a fair self-assessment of each individual's contribution to the lecture. You get 10 points to assign for each member of the team, so if your team has 3 students, you have 30 points to assign. Ideally your distribution would be 10/10/10. If one student did not contribute much, the distribution might be 12/12/6, or if one student did most of the work, it might be 16/7/7. In either of these cases, a '''brief''' explanation would be helpful. These are just to help me understand how the team functioned.
-->
* Anything else. This will likely be nothing in most cases, but maybe you found a useful website you'd like to share, or created some MATLAB code you'd like to share, etc.


'''Getting Started'''
I encourage you to meet with me during office hours if you have any questions or if you'd like to discuss your ideas for your lecture.


Do the following things as soon as possible:
==Approximate Syllabus and Reading==


* [[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.)
* Chapter 2, Configuration Space (weeks 1-2)
* [[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.
* Chapter 3, Rigid-Body Motions (weeks 2-3)
* [[Getting Started with the CoppeliaSim Simulator|Download, install, and test the CoppeliaSim robot simulation software.]]
* Chapter 4, Forward Kinematics (week 4); section 4.2 is optional
* Accept your invitation to the Coursera course.
* Chapter 5, Velocity Kinematics and Statics (week 5)
* Chapter 6, Inverse Kinematics (week 6); focus on section 6.2
* Chapter 8, Dynamics of Open Chains (weeks 6-7); skip sections 8.4, 8.8, and 8.9
* Chapter 9, Trajectory Generation (week 8); focus on sections 9.1 and 9.4
* Chapter 11, Robot Control (week 9); focus on sections 11.1 through 11.4
* Chapter 13, Wheeled Mobile Robots (week 10); skip section 13.3


==Assignments==
==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.
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.


==Prerequisites==
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.


Linear algebra, first-order linear ODEs, freshman-level physics/mechanics, a bit of programming background.
'''Instructions for uploading assignments to Canvas:'''


==Grading==
0. '''Upload on time!''' Late submissions are not accepted. The cutoff time is 30 minutes before class the day the assignment is due.
<!--
* 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).
1. Only upload one zip file or rar file for each assignment;


==Course Text and Software==
2. In your zip file or rar file, include all source codes in their original form, such as .cpp, .m, .py, .nb.


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].'''
3. If there is a demo, combine the screen shots into one SEPARATE pdf file, OR, show the results in one SEPARATE .txt file (DON'T show them in your source code file format, e.g. .nb file), and include it in the zip file (or rar file).


[[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.
4. Always include output of your code running on the exercises, particularly in case the grader has problems running your code. Also, always create a script (for example, titled ex6-9 or something) that the grader can easily invoke for each 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" file in your solutions, for example).


'''[[Modern Robotics Linear Algebra Review|Here is a linear algebra refresher appendix to accompany the book.]]'''
5. Please name the upload file in the following format: LastName_FirstName.zip.


==Detailed Syllabus (Under Construction)==
==Approximate Syllabus and Schedule==
[https://docs.google.com/spreadsheets/d/1jWd_POLlQYxQLv1Igv-eVmORdtEcLi0mU_rVLkNguYI/edit?usp=sharing '''Click here for a graphical view of the class schedule, including student lectures.''']


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.
Homeworks are due at the beginning of class every Wednesday, unless otherwise noted. You will watch the videos and do the reading in advance of class using the material, as noted in the syllabus below. A typical weekly schedule will consist of:
* Coursera refers to "weeks," but ignore this; our course modules are not a week long.
: M: Video/reading comprehension quick quiz and help with homework.
* Before some classes, you should complete a quiz on earlier material.
: W: Video/reading comprehension quick quiz, homework solutions, plus '''EITHER''' student lecture '''OR''' quiz preparation.
* 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.)
: F: Video/reading comprehension quick quiz plus '''EITHER''' student lecture '''OR''' quiz.
* 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.
'''Class 1''' (W 9/20)
: Welcome to the course and course website. Structure of the course (HW due Wed, student-generated lectures and learning materials, in-class assignments, feedback on student lectures, occasional Friday quizzes). Book, software, (lack of) D-H parameters, syllabus, V-REP simulator, office hours.


'''Chapter 2, Configuration Space'''
At home:
* Wed Sept 25: welcome to the course and syllabus review; intro to Coursera. '''The schedule for completing Coursera items is set by this wiki!'''
: Videos: first 3 videos of Chapter 2, through Chapter 2.2
* 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]]'''
: Reading: Chapters 2.1 and 2.2
* 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]]'''
: Software: download github software with book, install V-REP and verify that you can use Scenes 1 and 2 (the UR5)
* 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]]'''
: '''HW1, due 1:30 PM 9/27''': Exercises 2.3, 2.9, 2.20, 2.29. Also, create your own example system with closed loops, something not in the book, and solve for the degrees of freedom using Grubler's formula. Make it something that exists or occurs in common experience, not necessarily a robot. Imagine using it to teach someone about Grubler's formula.
'''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: '''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) '''[[Media:MRslides-ch09a.pdf|CLASS SLIDES]]'''
* Fri Nov 8: 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: '''ASST 3, DUE 1:30 PM'''; final project discussion
'''Chapter 11, Robot Control (focus on sections 11.1 through 11.4)'''
* Fri Nov 15: 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: 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==
'''Class 2''' (F 9/22)
[[Modern_Robotics#Useful_Supplemental_Documents|Sample exercises and their solutions, useful for practicing your understanding of the material.]]
: Quick quiz
: Sample student lecture


== Practice Tests ==
At home:
* [[Media:ME449-midterm-2023.pdf|2023 midterm]] and [[Media:ME449-midterm-solutions-2023.pdf|2023 midterm solutions]]
: Videos: 2 videos on Chapter 2.3
* [[Media:ME449-midterm-2022.pdf|2022 midterm]] and [[Media:ME449-midterm-2022-solutions.pdf|2022 midterm solutions]]
: Reading: Chapter 2.3
* [[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.'''
'''Class 3''' (M 9/25)
-->
: Quick quiz
<!--
: Bring your laptop, demo V-REP UR5 scenes
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.
: Help with HW


You should look at the practice exercise document and end-of-chapter exercises for inspiration, but obviously your exercises should not be copies.
At home:
: Videos: 2 videos, Chapter 2.4 and 2.5
: Reading: Chapters 2.4 and 2.5
: Turn in HW1


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,
'''Class 4''' (W 9/27)
: Quick quiz
: Solutions to HW1; student examples of Grubler's formula


# 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.
At home:
# Create an account on [https://www.overleaf.com/ Overleaf].
: Videos: first 3 videos of Chapter 3, through Chapter 3.2.1
# Create a new (blank) project on Overleaf called "exercise."
: Reading: through Chapter 3.2.1
# 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.)
: '''HW2, due 1:30 PM 10/4''':
# Click on main.tex to see your main LaTeX document.
:: 1) Exercise 3.1, except the y_a axis points in the direction (1,0,0).
# 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.]]'''
:: 2) Exercise 3.2, except p = (1,2,3).
:: 3) Exercise 3.5.
:: 4) Exercise 3.9.
:: 5) In Figure 1.1(a) of the book is an image of a UR5 robot, with a frame at its base and a frame at its end-effector. Eyeballing the end-effector frame, approximately write the rotation matrix that represents the end-effector frame orientation relative to the base frame. Your rotation matrix should satisfy the properties of a rotation matrix (R^T R = I, det(R) = 1). The x-axes are in red, the y-axes are in green, and the z-axes are in blue.
:: 6) Write a program that takes a set of exponential coordinates for rotation from the user as input. It then prints out the following: (a) the corresponding unit rotation axis and the angle of rotation about that axis; (b) the so(3) 3x3 matrix representation of the exponential coordinates; (c) the 3x3 SO(3) rotation matrix corresponding to the exponential coordinates; (d) the inverse of the rotation matrix from (c); (e) the 3x3 so(3) matrix log of the matrix from (d); and (f) the corresponding exponential coordinates for the so(3) matrix (e). Use the code from the book and write your program in Mathematica, MATLAB, or Python. Turn in your code and the output of an example run using (0.5, 1, 0) as the input to part (a).
:: 7) Write a function that returns "true" if a given 3x3 matrix is with a distance epsilon of being a rotation matrix and "false" otherwise. It is up to you to define the "distance" between a random 3x3 real matrix and members of SO(3). Test the function on two matrices, neither of which is exactly in SO(3), but one of which is close (so the result is "true") and one of which is not. Turn in your code and provide the test run output, which also outputs the distance to SO(3) that you defined.
:: 8) Following up on the previous exercise: describe (don't implement, unless you want to) a function that takes a "close by" 3x3 matrix and returns the closest rotation matrix. How would you use the fact that R^T R - I must be equal to zero to modify the initial 3x3 matrix to make it a "close by" rotation matrix? Would the function be iterative? You are free to do some research online, but as always, '''cite your sources'''!


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.
'''Class 5''' (F 9/29)
: Quick quiz
: Lecture


To learn more about typesetting in LaTeX, google is your friend! Try googling "latex math" or "latex math symbols," for example.
At home:
: Videos: videos 4-6 of Chapter 3, through Chapter 3.2.3
: Reading: through Chapter 3.2.3


You will turn in the source for your exercise as a zip file, as well as the final pdf file.
'''Class 6''' (M 10/2)
-->
: Quick quiz
<!--
: Help with HW
The final student assignments to topics is given below:


[[File:StudentExercises2019.jpg|x400px]]
At home:
-->
: Videos: videos 7-9 of Chapter 3, Chapters 3.3.1 and 3.3.2
: Reading: same sections
'''Class 7''' (W 10/4)
: Quick quiz
: Exam prep


==Assignments==
At home:
: Videos: videos 10-11, Chapter 3.3.3 and 3.4
: Reading: same sections
: '''HW3, due 1:30 PM 10/11''': Exercises 3.16, 3.17, 3.27, 3.31, and 3.48 (as always, for programming assignments, turn in your code and sample output demonstrating it).


'''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.
'''Class 8''' (F 10/6)
: Quick quiz
: EXAM 1


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.
At home:
: Videos: video 1 of Chapter 4, through Chapter 4.1.2
: Reading: same sections


'''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.'''
'''Class 9''' (M 10/9)
: Quick quiz
: Help with HW


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.
At home:
: Videos: videos 2-3 of Chapter 4, Chapter 4.1.3
: Reading: same sections
'''Class 10''' (W 10/11)
: Quick quiz
: Student lecture 1 (Pawar, Subramanian, Goyal, Cai)


'''Instructions for uploading assignments to Canvas:'''
At home:
: Videos: video 1 of Chapter 5, up to (not including) Chapter 5.1
: Reading: same sections
: '''HW4, due 1:30 PM 10/18''': Exercises 4.2, 4.8, 4.14, and 5.7(a). Question 5: In Chapter 3.5 (Summary), there is a list of analogies between rotations and rigid-body motions. Read it carefully and report anything that is either unclear or incorrect.


* '''Upload on time! Late submissions are not accepted.'''
'''Class 11''' (F 10/13)
* 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.
: Quick quiz
* 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.
: Student lecture 2 (Wang, Wu, Xia, Zheng)
* 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.
At home:
: Videos: video 2 of Chapter 5, Chapter 5.1.1
: Reading: same sections


'''[[Media:ME449-asst2-2024.pdf|Assignment 2]]''', due 1:30 PM CT Wednesday November 6 on Canvas.
'''Class 12''' (M 10/16)
<!--
: Quick quiz
'''[[Media:ME449-asst3-2023.pdf|Assignment 3]]''', due 1:30 PM CT Wednesday November 8 on Canvas.
: Help with HW
-->


<!--
At home:
'''[[Media:ME449-asst3-2022.pdf|Assignment 3]]''', due 1:30 PM CT Wednesday November 10 on Canvas.
: Videos: videos 3 and 4 of Chapter 5, Chapter 5.1.2 through 5.2
-->
: Reading: same sections
'''Class 13''' (W 10/18)
: Quick quiz
: Student lecture 3 (Wiznitzers, Hutson, Spies)


<!--
At home:
'''[[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.)
: Videos: videos 5 and 6 of Chapter 5, Chapter 5.3 and 5.4
-->
: Reading: same sections
<!--
* '''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).
'''Class 14''' (F 10/20)
* '''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.
: Quick quiz
* '''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]].
: Student lecture 4 (Don, Chien, Husain, Sulaiman)
* '''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.
-->


==Final Project: Mobile Manipulation==
At home:
<!--
: Videos: videos 1 and 2 of Chapter 6,
'''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.
: Reading: intro of Chapter 6 and Chapter 6.2
-->


<!--
'''Class 15''' (M 10/23)
The final project is described [http://hades.mech.northwestern.edu/index.php/Mobile_Manipulation_Capstone_2023 '''on this page''']. It is due in Canvas on Thursday December 12 at noon.
: Quick quiz
: Help with HW


* '''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.
At home:
* ''' Due Thursday December 12 at 12:00 PM (noon) on Canvas''': The entire final writeup, as described [https://hades.mech.northwestern.edu/index.php/Mobile_Manipulation_Capstone_2023#Final_Step:_Completing_the_Project_and_Your_Submission '''at this page'''], 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.
: Videos: video 3 of Chapter 6
-->
: Reading: Chapter 6.2
'''Class 16''' (W 10/25)
: Quick quiz
: Exam prep


<!--
At home:
Reminders:
: Videos: video 1 of Chapter 8, through 8.1.1
# 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.
: Reading: same sections
# 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.'''
'''Class 17 ''' (F 10/27)
# 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.)
: Quick quiz
# 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.
: EXAM 2
# 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.
At home:
-->
: Videos: video 2 of Chapter 8, through 8.1.2
: Reading: same sections

'''Class 18''' (M 10/30)
: Quick quiz
: Help with HW

At home:
: Videos: video 3 of Chapter 8, through 8.1.3
: Reading: same sections
'''Class 19''' (W 11/1)
: Quick quiz
: Student lecture 5 (Zhang, Zhu, Meng, Luo)

At home:
: Videos: videos 4-5 of Chapter 8, through 8.2
: Reading: same sections

'''Class 20''' (F 11/3)
: Quick quiz
: Student lecture 6 (Lyu, Yi, Wang, Swissler)

At home:
: Videos: video 6 of Chapter 8, up to (not including) 8.4
: Reading: same sections

'''Class 21''' (M 11/6)
: Quick quiz
: Help with HW

At home:
: Videos: video 7 of Chapter 8, Chapter 8.5 (skip 8.4)
: Reading: same sections
'''Class 22''' (W 11/8)
: Quick quiz
: Student lecture 7 (Warren, Kilaru, Wang, Mandana)

At home:
: Videos: videos 1-2 of Chapter 9, through Chapter 9.2
: Reading: same sections

'''Class 23''' (F 11/10)
: Quick quiz
: Student lecture 8 (Wang, Dai, Ma, Peng)

At home:
: Videos: video 4 of Chapter 9, Chapter 9.4 - 9.4.1 (skip 9.3)
: Reading: same sections

'''Class 24''' (M 11/13)
: Quick quiz
: Help with HW

At home:
: Videos: videos 5-6 of Chapter 9, up to (not including) Chapter 9.5
: Reading: same sections
'''Class 25''' (W 11/15)
: Quick quiz
: Exam prep

At home:
: Videos: videos 1-3 of Chapter 11, up to (not including) Chapter 11.2.2.1
: Reading: same sections

'''Class 26''' (F 11/17)
: Quick quiz
: EXAM 3

At home:
: Videos: videos 4-5 of Chapter 11, Chapter 11.2.2.1 and 11.2.2.2
: Reading: same sections

'''Class 27''' (M 11/20)
: Quick quiz
: Help with HW

At home:
: Videos: videos 6-8 of Chapter 11, Chapter 11.3
: Reading: same sections
'''Class 28''' (W 11/22)
: Quick quiz
: Student lecture 9 (Abiney, Aubrun, Anthony, Alston)

At home:
: Videos: videos 1-3 of Chapter 13, through Chapter 13.2
: Reading: same sections

'''Class 29''' (F 11/27)
: Quick quiz
: Help with HW

At home:
: Videos: videos on odometry and mobile manipulation, Chapter 13.4 and 13.5
: Reading: same sections
'''Class 30''' (W 11/29)
: Quick quiz
: Student lecture 10 (Miller, Berrueta, Davis, Tobia)

At home:
: Final assignment work

'''Class 31''' (F 12/1)
: Student lecture 11 (Fernandez, Lutzen, SaLoutos, Iwankiw)


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* [[ME 449 Robotic Manipulation (Archive Fall 2015)|ME 449 Fall 2015]]
* [[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 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 09:56, 31 October 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: 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: 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: 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 on Canvas.


Final Project: Mobile Manipulation

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