Informações sobre o curso: 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.
Para quem é direcionado este curso: This capstone project is designed for students who have taken typical first-year college courses in engineering, such as physics (e.g., f = ma with vector forces and torques), linear algebra (matrix operations, positive definiteness, determinants, eigenvalues and eigenvectors), calculus (derivatives and partial derivatives), a basic intro to differential equations (i.e., dx/dt = a*x), and a little bit of programming experience. Students are expected to be able to read and write simple programs in Python, Mathematica, or MATLAB. Students should also have taken the first five courses of the Modern Robotics specialization.
Ministrado por: Kevin Lynch, Professor
Mechanical Engineering
| Informações básicas | Curso 6 de 6 no Modern Robotics: Mechanics, Planning, and Control Specialization |
| Nível | Intermediário |
| Compromisso | The capstone project requires approximately 20 hours of effort, depending on your programming skill. |
| Idioma | English |
| Como ser aprovado | Seja aprovado em todas as tarefas para concluir o curso. |
- Reading: Welcome to Course 6, Capstone Project on Mobile Manipulation
- Vídeo: Video Summary of the Capstone Project
- Reading: Milestone 1: youBot Kinematics Simulator and csv Output
- Discussion Prompt: Milestone 1 Discussion
- Vídeo: (Optional Review) Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 1 of 2)
- Vídeo: (Optional Review) Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 2 of 2)
- Vídeo: (Optional Review) Odometry (Chapter 13.4)
- Reading: Milestone 2: Reference Trajectory Generation
- Discussion Prompt: Milestone 2 Discussion
- Vídeo: (Optional Review) Point-to-Point Trajectories (Chapters 9.1 and 9.2, Part 1 of 2)
- Vídeo: (Optional Review) Point-to-Point Trajectories (Chapters 9.1 and 9.2, Part 1 of 2)
- Reading: Milestone 3: Feedforward Control
- Discussion Prompt: Milestone 3 Discussion
- Vídeo: (Optional Review) Body Jacobian (Chapter 5.1.2)
- Vídeo: (Optional Review) Motion Control with Velocity Inputs (Chapter 11.3, Part 3 of 3)
- Vídeo: (Optional Review) Mobile Manipulation (Chapter 13.5)
- Reading: Completing the Project and Your Submission
- Discussion Prompt: Discussion on Completing the Project
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| Comprar curso | |
|---|---|
| Acesso aos materiais do curso | Disponível |
| Acesso a materiais valendo nota | Disponível |
| Receba uma nota final | Disponível |
| Obtenha um Certificado de Curso compartilhável | Disponível |
