Planning of Robotic Manipulation

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.