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Robotics IIPlanning and Manipulation
Jeff Trinkle
MRC 330c
TA: Blake Farman
Robotics I Topics
• Spatial description (Craig chapter 2)
• Manipulator kinematics (Craig chapter 3)
• Inverse manipulator kinematics (Craig chapter 4)
• Manipulator Jacobians (Craig chapter 5)
• Manipulator dynamics (Craig chapter 6)
• Linear control (Craig chapter 9)
• Nonlinear control (Craig chapter 10)
• Force control (Craig chapter 11)
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Robotics II Topics
• Grasping – (Chapter 28 from Springer Handbook of Robotics, 2008)
• If necessary – Trajectory Planning (Craig chapter 7)
• Motion Planning (LaValle Chapters 1-6)– Piano mover’s problem– Moving a robot arm among obstacles
• Manipulation Planning – Multibody dynamics– Motion planning + physical constraints
• Device Design– Variation on manipulation planning
• Other current topics – probably from recent publications– Robot programming (Craig chapter 12 or papers)– tbd…
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Trajectory Planning with Geometric and Physical Model
• Surface geometry
• Paint deposition physics
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Manipulation Planning State of the Art?
• Human vs Robot
Household Robotics
• Kuffner et al.
• Robotics: Science and Systems 2008
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Grasp Acquisition
• Parallel jaw gripper grasping a lock part
• 100,800 trials– Slow or fast– Clean or sandy
Brost and Christiansen, 1995
Success Rate
Success
Failures
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More Manipulation Examples
• Ram’s planner
• Kaneko’s handshttp://www.k2.t.u-
tokyo.ac.jp/index-e.html
• Koditschek’s HRex
Parts-Feeder Design
Design Goals: 1) All pegs exit closed end down
2) Maximize through-put??
Boothroyd (1960’s)
Solved without simulation
Experimental Validation
• Experimental test bed developed in GRASP Lab
with Song, Pang, and Kumar
Real Factory Automation: Bottle Making
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Human Meso-Scale Assembly
Fixture plate holding pawl
with Jones and Kozlowsky (2004)
Automated Meso-Scale Assembly
• Insertion planned using:– LaValle’s Rapidly-Exploring Dense Trees (RDTs)– dVC for simulation http://www.robotics.cs.rpi.edu/dvc/
• Execution open loop
• Closed-loop execution possible with detailed, pre-computed RDT
with Cappelleri, et al. 2006
Solving the Peg-in-Hole Problem
• Estimate surface friction model
• Use RDT
with Cappelleri, et al. 2006
Analytical Design of Vibratory Manipulation
• Manipulate small parts in parallel
• Control gross motion with “asymptotic velocity fields”
• Generated by periodic support surface trajectories that bias the net friction force
Vose, Umbanhower, and Lynch, 2007
Computational Design of Vibratory Manipulation
• Vose received RSS 2008 best student paper award ($2,500)!
• Six speakers coupled to plate generate desired plate vibration
with Berard, Nguyen, and Anderson
Practical Details
• TA is Blake Farman ([email protected])– Main responsibilities:
• dVC from RPI
• OOPSMP (Oops Motion Planner?!) from Rice
– Office MRC 332– Office hours:
• 8pm to 10pm Mondays and Thursdays
• Also by appointment
• Other possiblilities (W all day; T,F after 5pm)
• Trinkle ([email protected])– Office MRC 330c– Office hours:
• 3pm to 4pm (or by appointment)
• Also by appointment
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First Assignment
• Install dVC-3D– Before class on Friday (1/16), install Qt (http://www.qtsoftware.com/)– Blake will be available:
• Via email [email protected]
• In office – but contact first to make sure
• Friday in class– Install dVC-3D– Linux or visual studio
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Dogs can Plan Complex Tasks Too
Dynamics
Intermittent contact
Nonholonomic constraints
Nonlinear control
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