The capstone project of the Modern Robotics specialization is on mobile manipulation: simultaneously controlling the motion of a wheeled mobile base and its robot arm to achieve a manipulation task. This project integrates several topics from the specialization, including trajectory planning, odometry for mobile robots, and feedback control. Beginning from the Modern Robotics software library provided to you (written in Python, Mathematica, and MATLAB), and software you have written for previous courses, you will develop software to plan and control the motion of a mobile manipulator to perform a pick and place task. 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.
This course is part of the Modern Robotics: Mechanics, Planning, and Control Specialization
About this Course
Syllabus - What you will learn from this course
Introduction to the Capstone Project, and Milestone 1
Milestone 2: Reference Trajectory Generation
Milestone 3: Feedforward Control
Completing the Project and Your Submission
- 5 stars92%
- 4 stars8%
TOP REVIEWS FROM MODERN ROBOTICS, COURSE 6: CAPSTONE PROJECT, MOBILE MANIPULATION
Capstone Project taught me the most. Thank you for the great course. Would you have a advanced robotics course? I would love to take that too.
It was fascinating implementing what I learnt in the previous five courses into a real-life scenario.
A really amazing and exhaustive course. Covers everything you need to know about robotics especially from a Mechanical Engineering point of view.
I really loved this course. Now forums are slightly active. You get a response from learners. If you are stuck don't give up keep trying you will be able to complete the project.
About the Modern Robotics: Mechanics, Planning, and Control Specialization
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