Modern Robotics, Course 6: Capstone Project, Mobile Manipulation
- 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.
- Milestone 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.
- Milestone 3: Feedforward Control
- Feedforward control of the end-effector of a mobile manipulator to drive the end-effector along a reference trajectory.
- 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.