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 ControlNorthwestern University
Informações sobre o curso
4.5
2 classificações
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.
Programa - O que você aprenderá com este curso
Week
1Introduction 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 17 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 Outputmin
Week
2Milestone 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 9 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 Generationmin
Week
3Milestone 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 20 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 Controlmin
Week
4Completing 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 Northwestern University
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.
Perguntas Frequentes – FAQ
When will I have access to the lectures and assignments?
Once you enroll for a Certificate, you’ll have access to all videos, quizzes, and programming assignments (if applicable). Peer review assignments can only be submitted and reviewed once your session has begun. If you choose to explore the course without purchasing, you may not be able to access certain assignments.
What will I get if I subscribe to this Specialization?
When you enroll in the course, you get access to all of the courses in the Specialization, and you earn a certificate when you complete the work. Your electronic Certificate will be added to your Accomplishments page - from there, you can print your Certificate or add it to your LinkedIn profile. If you only want to read and view the course content, you can audit the course for free.
What is the refund policy?
Is financial aid available?
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