The Modern Robotics specialization's capstone project, Course 6: Capstone Project, Mobile Manipulation, offers a comprehensive hands-on experience in integrating various topics, such as trajectory planning, odometry for mobile robots, and feedback control, to achieve a manipulation task. Throughout the course, students will develop software to plan and control the motion of a mobile manipulator, specifically the KUKA youBot, to perform a pick and place task using the state-of-the-art V-REP robot simulator.
Key topics covered in this course include:
By completing the capstone project, students will gain practical experience in applying the concepts learned throughout the specialization, culminating in the development of software to control a mobile manipulator effectively.
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The course is divided into four modules, covering topics such as introduction to the capstone project, milestone achievements, trajectory generation, feedforward control, and project completion. Students will gain hands-on experience in planning and controlling the motion of a mobile manipulator.
Module 1 provides an introduction to the capstone project and milestone 1, focusing on mobile manipulation. Students will gain an understanding of the project scope and the initial steps to be taken for the successful completion of the capstone project.
Module 2 centers around milestone 2, emphasizing reference trajectory generation for the mobile manipulator. Students will delve into the intricacies of generating effective reference trajectories to achieve precise and efficient manipulation tasks.
Module 3 is dedicated to milestone 3, focusing on feedforward control for the mobile manipulator. Students will learn how to implement feedforward control techniques to enhance the motion control of the mobile manipulator during manipulation tasks.
Module 4 encompasses completing the project and submission. It provides students with the necessary guidance and resources to finalize their project and submit their software for assessment.
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