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Cursus: INFOMOMA
INFOMOMA
Motion and manipulation
Cursus informatieRooster
CursuscodeINFOMOMA
Studiepunten (ECTS)7,5
Categorie / NiveauM (Master)
CursustypeCursorisch onderwijs
VoertaalEngels
Aangeboden doorFaculteit Betawetenschappen; Graduate School of Natural Sciences;
Contactpersoondr. ir. A.F. van der Stappen
Telefoon+31 30 2535093
E-mailA.F.vanderStappen@uu.nl
Docenten
Docent
dr. ir. A.F. van der Stappen
Feedback en bereikbaarheid
Overige cursussen docent
Blok
1-GSNS  (04-09-2017 t/m 10-11-2017)
Aanvangsblok
1-GSNS
TimeslotD: WO-middag, WO-namiddag, Vrijdag
Onderwijsvorm
Voltijd
Opmerking
Cursusinschrijving geopendvanaf 29-05-2017 t/m 25-06-2017
AanmeldingsprocedureOsiris
Inschrijven via OSIRISJa
Inschrijven voor bijvakkersJa
VoorinschrijvingNee
Na-inschrijvingJa
Na-inschrijving geopendvanaf 21-08-2017 t/m 17-09-2017
WachtlijstJa
Plaatsingsprocedureadministratie onderwijsinstituut
Cursusdoelen
After completing the course, the student
  • Knows the common geometric models for convex and non-convex polygonal/polyhedral and semi-algebraic objects.
  • Knows about homogenous coordinates and rigid transformations and their role in the kinematics of rigid objects.
  • Is able to systematically assign coordinate frames to the links and joints articulated structures to model the forward kinematics of such structures.
  • Knows the basic path planning problem and its most common extensions, and knows how to translate these path planning problems to configuration space.
  • Knows what the role of Minkowski sums in translational path planning, and has insight into the structure and complexity of the free part of the configuration space.
  • Knows about sampling-based approaches to path planning and about exact and approximate versions of cell-decomposition as well as roadmap-based approaches to path planning, and is aware of the advantages and drawbacks of each of the methods.
  • Has insight into the state of the art in crowd simulation and is able to interpret, review, and compare state-of-the-art results in the field.
  • Knows about instantaneous motion analysis, its foundation in projective geometry, and its relevance to grasping.
  • Knows about wrench analysis, its foundation in Pl├╝cker coordinates, and its relevance to grasping.
  • Is aware of the relevance of simple physical actions, such as pushing, and the analysis of their effect to cost-effective industrial automation.
Inhoud
Motion and manipulation are key issues in the field of robotics and automation, but they also play a major role in virtual environments and games. In this course models and planning problems for tasks that involve motion or manipulation are studied. The course covers topics from kinematics, which studies motions without taking their causes into consideration. The study of manipulation concentrates on kinematic models for articulated structures such as arms, models for grasp analysis based on velocities and forces, and on simple non-prehensile forms of manipulation such as pushing. Special attention is given to industrial automation as an example of manipulation planning. Geometry is a major parameter in the definition, modeling, and planning of manipulation and motion tasks.
Ingangseisen
Je moet een geldige toelatingsbeschikking hebben
Verplicht materiaal
-
Aanbevolen materiaal
Diverse
Chapters from the book Mechanics of Robotic Manipulation by Matthew T. Mason
Boek
Online book Planning Algorithms by Steven M. LaValle
Bundel
The no longer available book Fundamentals of Robotics: Analysis and Control by Robert J. Schilling, supplemented by journal papers on robotic manipulation.
Werkvormen (aanwezigheidsplicht)
Hoorcollege (Verplicht)

Toetsen
Eindresultaat
Weging100
Minimum cijfer-

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