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: |
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| 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.
