ME 449 Robotic Manipulation
Spring Quarter 2014
- Instructor: Prof. Kevin Lynch
- Office hours: TBA
- Meeting: 11-11:50 MWF, Tech LG68
- course website: http://hades.mech.northwestern.edu/index.php/ME_449_Robotic_Manipulation
Course Summary
Mechanics of robotic manipulation, computer representations and algorithms for manipulation planning, and applications to industrial automation, parts feeding, grasping, fixturing, and assembly.
Grading
Grading for the course will be based on problem sets and a final project. There will be no exams. The final project, due during finals week, will take the form of a conference paper analyzing a manipulation problem, building on another research paper, or implementing a simulation.
Course Text
"Introduction to Robotics: Mechanics, Planning, and Control," F. C. Park and K. M. Lynch (course notes handed out)
Assignments
Final Project
Approximate Syllabus
Mobility, Configuration Space, and Task Space
Rigid-Body Motions
Forward Kinematics of Serial Chains
Differential Kinematics of Open Chains
Inverse Kinematics of Open Chains
Dynamics of Open Chains
Trajectory Planning
Motion Planning with Obstacles
Robot Control
Form and Force Closure
Contact Modeling and Manipulation
