MOOC List is learner-supported. When you buy through links on our site, we may earn an affiliate commission.
MOOC List is learner-supported. When you buy through links on our site, we may earn an affiliate commission.
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.
Course 6 of 6 in the Modern Robotics: Mechanics, Planning, and Control Specialization.
Syllabus
WEEK 1
Introduction to the Capstone Project, and Milestone 1
Odometry for wheeled mobile robots and its use in a kinematic simulator for the youBot omnidirectional mobile robot with four mecanum wheels.
WEEK 2
Reference Trajectory Generation
Generating a reference trajectory in SE(3) for the end-effector of a mobile manipulator to achieve a pick-and-place task.
WEEK 3
Feedforward Control
Feedforward control of the end-effector of a mobile manipulator to drive the end-effector along a reference trajectory.
WEEK 4
Completing the Project and Your Submission
Feedforward-plus-feedback control of the end-effector of a mobile manipulator to stabilize a reference trajectory for the end-effector.
MOOC List is learner-supported. When you buy through links on our site, we may earn an affiliate commission.
MOOC List is learner-supported. When you buy through links on our site, we may earn an affiliate commission.