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所在平台: Coursera |
课程主页: https://www.coursera.org/learn/modernrobotics-course6
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课程名称：《现代机器人》 第6章：顶点项目，移动操控 课程概述：现代机器人专项的顶点项目聚焦于移动操控，即同时控制轮式移动底盘和机器人手臂以完成操作任务。该项目整合了专项中的多个主题，包括轨迹规划、移动机器人里程计以及反馈控制。学生将基于提供的现代机器人软件库（以Python、Mathematica和MATLAB编写）以及之前课程所编写的软件，开发能够规划和控制移动操控器运动的软件，以实现物品的抓取和放置任务。测试将使用KUKA youBot，该移动操控器由全向轮移动底盘、五自由度机器人手臂和夹爪组成。同时，课中还使用先进的跨平台V-REP机器人仿真器来模拟任务。 课程大纲： 1. 章节名称：顶点项目介绍与里程碑1 描述：针对四个mecanum轮的youBot全向移动机器人进行里程计的研究及其在运动学仿真中的应用。 2. 章节名称：里程碑2：参考轨迹生成 描述：为移动操控器的末端执行器生成参考轨迹，以实现抓取和放置任务。 3. 章节名称：里程碑3：前馈控制 描述：对移动操控器末端执行器实施前馈控制，以沿参考轨迹移动。 4. 章节名称：项目完成与提交 描述：对移动操控器的末端执行器进行前馈加反馈控制，以稳定末端执行器的参考轨迹。
Name:Introduction to the Capstone Project, and Milestone 1
Description:Odometry for wheeled mobile robots and its use in a kinematic simulator for the youBot omnidirectional mobile robot with four mecanum wheels.
Name:Milestone 2: Reference Trajectory Generation
Description:Generating a reference trajectory in SE(3) for the end-effector of a mobile manipulator to achieve a pick-and-place task.
Name:Milestone 3: Feedforward Control
Description:Feedforward control of the end-effector of a mobile manipulator to drive the end-effector along a reference trajectory.
Name:Completing the Project and Your Submission
Description:Feedforward-plus-feedback control of the end-effector of a mobile manipulator to stabilize a reference trajectory for the end-effector.
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.
