|Website:||website containing additional information|
|Period:||periode 1 (week 36 t/m 45, dwz 3-9-2012 t/m 9-11-2012; herkansing week 1)
|Participants:||up till now 50 subscriptions|
|Schedule:||Note: from now on the schedule is to be found in Osiris|
|Teachers:||Dit is een oud rooster!
|week: 45||wo 6-11-2013||13.30-16.30 uur||zaal: EDUC-ALFA|
|Contents:||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. We will study models and planning problems for tasks that involve motion or manipulation. The course covers topics from kinematics, which studies motions without taking their causes into consideration. Our 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 will be 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. |
|Literature:||Chapters from the book Theory of Applied Robotics by Reza N. Jazar,
the no longer available book Fundamentals of Robotics: Analysis and Control by Robert J. Schilling, and some material from the book Mechanics of Robotic Manipulation by Matthew T. Mason. Journal papers on robotic manipulation for the technical summary. |
|Course form:||Lectures by the teacher, and several exercises.|
|Exam form:||Written test and an in-depth technical summary of two related scientific papers. The summary consists of a report supplemented by a discussion of the report with the teacher. The final grade depends on the written test (60 %) and the technical summary (40 %). The grade for the written test as well as for the technical summary must be at least 5 to pass.|
|Minimum effort to qualify for 2nd chance exam:||To qualify for the retake, the final grade for the first attempt should be at least 4.