现代机器人技术 6:顶点项目、移动操纵

Modern Robotics, Course 6: Capstone Project, Mobile Manipulation

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西北大学
Coursera
  • 完成时间大约为 6 个小时
  • 中级
  • 英语
注:本课程由Coursera和Linkshare共同提供,因开课平台的各种因素变化,以上开课日期仅供参考

课程概况

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.

课程大纲

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.

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.

Milestone 3: Feedforward Control

Feedforward control of the end-effector of a mobile manipulator to drive the end-effector along a reference trajectory.

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.

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