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Modern Robotics, Course 6: Capstone Project, Mobile Manipulation

Modern Robotics, Course 6: Capstone Project, Mobile Manipulation

Name: Modern Robotics, Course 6: Capstone Project, Mobile Manipulation
Rating: 4.933333333333334 (60 reviews)

This course is part of Modern Robotics: Mechanics, Planning, and Control Specialization

Instructor: Kevin Lynch

9,834 already enrolled

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4 modules

Gain insight into a topic and learn the fundamentals.

60 reviews

Intermediate level

Some related experience required

2 weeks to complete

at 10 hours a week

Flexible schedule

Learn at your own pace

4 modules

Gain insight into a topic and learn the fundamentals.

60 reviews

Intermediate level

Some related experience required

2 weeks to complete

at 10 hours a week

Flexible schedule

Learn at your own pace

Skills you'll gain

Tools you'll learn

Matlab

Details to know

Shareable certificate

Add to your LinkedIn profile

Taught in English

91% of learners achieved a positive career outcome

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This course is part of the Modern Robotics: Mechanics, Planning, and Control Specialization

When you enroll in this course, you'll also be enrolled in this Specialization.

Learn new concepts from industry experts
Gain a foundational understanding of a subject or tool
Develop job-relevant skills with hands-on projects
Earn a shareable career certificate

There are 4 modules in this course

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.

Module details

Odometry for wheeled mobile robots and its use in a kinematic simulator for the youBot omnidirectional mobile robot with four mecanum wheels.

What's included

5 videos3 readings1 discussion prompt

5 videosTotal 17 minutes

Introduction to the Capstone Project: Mobile Manipulation1 minute
Video Summary of the Capstone Project2 minutes
(Optional Review) Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 1 of 2)6 minutes
(Optional Review) Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 2 of 2)3 minutes
(Optional Review) Odometry (Chapter 13.4)5 minutes

3 readingsTotal 255 minutes

Welcome to Course 6, Capstone Project on Mobile Manipulation10 minutes
How to Make This Course Successful5 minutes
Milestone 1: youBot Kinematics Simulator and csv Output240 minutes

1 discussion promptTotal 10 minutes

Milestone 1 Discussion10 minutes

Generating a reference trajectory in SE(3) for the end-effector of a mobile manipulator to achieve a pick-and-place task.

What's included

3 videos1 reading1 discussion prompt

3 videosTotal 9 minutes

Milestone 2: Reference Trajectory Generation0 minutes
(Optional Review) Point-to-Point Trajectories (Chapters 9.1 and 9.2, Part 1 of 2)6 minutes
(Optional Review) Point-to-Point Trajectories (Chapters 9.1 and 9.2, Part 1 of 2)3 minutes

1 readingTotal 300 minutes

Milestone 2: Reference Trajectory Generation300 minutes

1 discussion promptTotal 10 minutes

Milestone 2 Discussion10 minutes

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

What's included

4 videos1 reading1 discussion prompt

4 videosTotal 20 minutes

(Optional Review) Product of Exponentials Formula in the End-Effector Frame (Chapter 4.1.2)5 minutes
(Optional Review) Body Jacobian (Chapter 5.1.2)5 minutes
(Optional Review) Motion Control with Velocity Inputs (Chapter 11.3, Part 3 of 3)4 minutes
(Optional Review) Mobile Manipulation (Chapter 13.5)6 minutes