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.
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Modern Robotics, Course 6: Capstone Project, Mobile Manipulation
This course is part of Modern Robotics: Mechanics, Planning, and Control Specialization
Instructor: Kevin Lynch
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There are 4 modules in this course
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
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
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
Feedforward-plus-feedback control of the end-effector of a mobile manipulator to stabilize a reference trajectory for the end-effector.
What's included
1 reading1 peer review1 discussion prompt
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Recommended if you're interested in Mechanical Engineering
University of Alberta
The Museum of Modern Art
University of Cape Town
University of Colorado Boulder
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