The capstone project of the Modern Robotics specialization is on mobile manipulation: simultaneously controlling the motion of a wheeled mobile base and its robot arm to achieve a manipulation task. This project integrates several topics from the specialization, including trajectory planning, odometry for mobile robots, and feedback control. Beginning from the Modern Robotics software library provided to you (written in Python, Mathematica, and MATLAB), and software you have written for previous courses, you will develop software to plan and control the motion of a mobile manipulator to perform a pick and place task. You will test your software on the KUKA youBot, a mobile manipulator consisting of an omnidirectional mecanum-wheel mobile base, a 5-joint robot arm, and a gripper. The state-of-the-art, cross-platform V-REP robot simulator will be used to simulate the task.
Este curso faz parte do Programa de cursos integrados Modern Robotics: Mechanics, Planning, and Control
Modern Robotics, Course 6: Capstone Project, Mobile Manipulation
oferecido por
Programa de cursos integrados Modern Robotics: Mechanics, Planning, and ControlUniversidade Northwestern
Programa - O que você aprenderá com este curso
Semana
15 horas para concluir
Introduction to the Capstone Project, and Milestone 1
Odometry for wheeled mobile robots and its use in a kinematic simulator for the youBot omnidirectional mobile robot with four mecanum wheels.
5 vídeos (total de (Total 17 mín.) min), 2 leituras
5 videos
Video Summary of the Capstone Project2min
(Optional Review) Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 1 of 2)6min
(Optional Review) Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 2 of 2)3min
(Optional Review) Odometry (Chapter 13.4)4min
2 leituras
Welcome to Course 6, Capstone Project on Mobile Manipulation10min
Milestone 1: youBot Kinematics Simulator and csv Outputs
Semana
25 horas para concluir
Milestone 2: Reference Trajectory Generation
Generating a reference trajectory in SE(3) for the end-effector of a mobile manipulator to achieve a pick-and-place task.
3 vídeos (total de (Total 9 mín.) min), 1 leitura
3 videos
(Optional Review) Point-to-Point Trajectories (Chapters 9.1 and 9.2, Part 1 of 2)5min
(Optional Review) Point-to-Point Trajectories (Chapters 9.1 and 9.2, Part 1 of 2)3min
1 leituras
Milestone 2: Reference Trajectory Generations
Semana
35 horas para concluir
Milestone 3: Feedforward Control
Feedforward control of the end-effector of a mobile manipulator to drive the end-effector along a reference trajectory.
4 vídeos (total de (Total 20 mín.) min), 1 leitura
4 videos
(Optional Review) Body Jacobian (Chapter 5.1.2)4min
(Optional Review) Motion Control with Velocity Inputs (Chapter 11.3, Part 3 of 3)4min
(Optional Review) Mobile Manipulation (Chapter 13.5)6min
1 leituras
Milestone 3: Feedforward Controls
Semana
45 horas para concluir
Completing the Project and Your Submission
Feedforward-plus-feedback control of the end-effector of a mobile manipulator to stabilize a reference trajectory for the end-effector.
1 leitura, 1 teste
1 leituras
Completing the Project and Your Submission10min
Instrutores
Kevin Lynch
ProfessorMechanical Engineering
Sobre Universidade Northwestern
Northwestern University is a private research and teaching university with campuses in Evanston and Chicago, Illinois, and Doha, Qatar. Northwestern combines innovative teaching and pioneering research in a highly collaborative environment that transcends traditional academic boundaries.
Sobre o Programa de cursos integrados Modern Robotics: Mechanics, Planning, and Control
This Specialization provides a rigorous treatment of spatial motion and the dynamics of rigid bodies, employing representations from modern screw theory and the product of exponentials formula. Students with a freshman-level engineering background will quickly learn to apply these tools to analysis, planning, and control of robot motion. Students' understanding of the mathematics of robotics will be solidified by writing robotics software. Students will test their software on a free state-of-the-art cross-platform robot simulator, allowing each student to have an authentic robot programming experience with industrial robot manipulators and mobile robots without purchasing expensive robot hardware. It is highly recommended that Courses 1-6 of the Specialization are taken in order, since the material builds on itself.
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O que recebo ao me inscrever nesta Especialização?
Quando você se inscreve no curso, tem acesso a todos os cursos na Especialização e pode obter um certificado quando concluir o trabalho. Seu Certificado eletrônico será adicionado à sua página de Participações e você poderá imprimi-lo ou adicioná-lo ao seu perfil no LinkedIn. Se quiser apenas ler e assistir o conteúdo do curso, você poderá frequentá-lo como ouvinte sem custo.
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