CENG782 PLANNING OF ROBOTIC MANIPULATION
| Course Code: |
5710782 |
| METU Credit (Theoretical-Laboratory hours/week): |
3(3-0) |
| ECTS Credit: |
8.0 |
| Department: |
Computer Engineering |
| Language of Instruction: |
English |
| Level of Study: |
Graduate |
| Course Coordinator: |
|
| Offered Semester: |
Fall and Spring Semesters. |
Course Content
Manipulation in humans and robots. Rigid body motion; spatial displacements and rotation; Euler angles. rotation matrices. quarternions. screws and wrenches. Manipulator kinematics; forward and inverse kinematics. manipulator Jocabian. Rigid body statics; contact models. wrench cones. line of force and moment labelling. Friction; Coulomb s Law. friction cones. Quasi static manipulation; pushing. Grasping; force- and form closure. grasp synthesis. map. stability and quality. Planning; configuration space. probabilistic roadmaps. radiply exploring random trees. single and multi-query planning. trajectory optimization and human robot interaction.
