CENG782 PLANNING OF ROBOTIC MANIPULATION
| Course Code: | 5710782 |
| METU Credit (Theoretical-Laboratory hours/week): | 3 (3.00 - 0.00) |
| ECTS Credit: | 8.0 |
| Department: | Computer Engineering |
| Language of Instruction: | English |
| Level of Study: | Graduate |
| Course Coordinator: | |
| Offered Semester: | Fall and Spring Semesters. |
Course Objectives
At the end of the course, the student will be able to:
- Model the kinematics of typical serial manipulators,
- Model the kinematic, static and quasi-static interactions between a manipulator and an object
- Characterize the challenges in motion planning of manipulators as well as compare and evaluate methods to tackle them.
- Develop a robotic manipulation model in simulation
- Use motion planning algorithms to plan manipulation tasks
- Analyze and evaluate the performance of a manipulation interaction quantitatively
Course Content
Manipulation in humans and robots, Rigid body motion; spatial displacements and rotation; Euler angles, rotation matrices, quarternions, screws and wrenches. Manipulator kinematics; forward and inverse kinematics, manipulator Jocabian. Rigid body statics; contact models, wrench cones, line of force and moment labelling. Friction; Coulomb s Law, friction cones. Quasi static manipulation; pushing. Grasping; force- and form closure, grasp synthesis, map, stability and quality. Planning; configuration space, probabilistic roadmaps, radiply exploring random trees, single and multi-query planning, trajectory optimization and human robot interaction.