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1

## Introduction to Modern Robotics

2 個視頻 （總計 2 分鐘）, 5 個閱讀材料
2 個視頻
Introduction to the Lightboard1分鐘
5 個閱讀材料
Welcome to the Specialization!10分鐘
Modern Robotics (MR) Code Library and Your Programming Language10分鐘
CoppeliaSim Robot Simulator2小時
How to Make This Course Successful5分鐘
(Optional) Chapter 140分鐘

## Chapter 2: Configuration Space (Part 1 of 2)

3 個視頻 （總計 13 分鐘）, 2 個閱讀材料, 3 個測驗
3 個視頻
Degrees of Freedom of a Rigid Body (Chapter 2 through 2.1)5分鐘
Degrees of Freedom of a Robot (Chapter 2.2)5分鐘
2 個閱讀材料
Welcome to Course 1, Foundations of Robot Motion10分鐘
Chapter 2 through 2.240分鐘
3 個練習
Lecture Comprehension, Degrees of Freedom of a Rigid Body (Chapter 2 through 2.1)10分鐘
Lecture Comprehension, Degrees of Freedom of a Robot (Chapter 2.2)6分鐘
Chapter 2 through 2.2, Configuration Space50分鐘
2

## Chapter 2: Configuration Space (Part 2 of 2)

4 個視頻 （總計 14 分鐘）, 1 個閱讀材料, 5 個測驗
4 個視頻
Configuration Space Representation (Chapter 2.3.2)3分鐘
Configuration and Velocity Constraints (Chapter 2.4)4分鐘
Task Space and Workspace (Chapter 2.5)1分鐘
1 個閱讀材料
Chapters 2.3-2.51小時
5 個練習
Lecture Comprehension, Configuration Space Topology (Chapter 2.3.1)4分鐘
Lecture Comprehension, Configuration Space Representation (Chapter 2.3.2)4分鐘
Lecture Comprehension, Configuration and Velocity Constraints (Chapter 2.4)8分鐘
Lecture Comprehension, Task Space and Workspace (Chapter 2.5)4分鐘
Chapter 2.3 through 2.5, Configuration Space50分鐘
3

## Chapter 3: Rigid-Body Motions (Part 1 of 2)

6 個視頻 （總計 18 分鐘）, 1 個閱讀材料, 7 個測驗
6 個視頻
Rotation Matrices (Chapter 3.2.1, Part 1 of 2)2分鐘
Rotation Matrices (Chapter 3.2.1, Part 2 of 2)4分鐘
Angular Velocities (Chapter 3.2.2)3分鐘
Exponential Coordinates of Rotation (Chapter 3.2.3, Part 1 of 2)2分鐘
Exponential Coordinates of Rotation (Chapter 3.2.3, Part 2 of 2)3分鐘
1 個閱讀材料
Chapter 3 through 3.21小時
7 個練習
Lecture Comprehension, Introduction to Rigid-Body Motions (Chapter 3 through 3.1)8分鐘
Lecture Comprehension, Rotation Matrices (Chapter 3.2.1, Part 1 of 2)8分鐘
Lecture Comprehension, Rotation Matrices (Chapter 3.2.1, Part 2 of 2)6分鐘
Lecture Comprehension, Angular Velocities (Chapter 3.2.2)12分鐘
Lecture Comprehension, Exponential Coordinates of Rotation (Chapter 3.2.3, Part 1 of 2)6分鐘
Lecture Comprehension, Exponential Coordinates of Rotation (Chapter 3.2.3, Part 2 of 2)6分鐘
Chapter 3 through 3.2, Rigid-Body Motions2小時
4

## Chapter 3: Rigid-Body Motions (Part 2 of 2)

5 個視頻 （總計 22 分鐘）, 1 個閱讀材料, 7 個測驗
5 個視頻
Twists (Chapter 3.3.2, Part 1 of 2)4分鐘
Twists (Chapter 3.3.2, Part 2 of 2)2分鐘
Exponential Coordinates of Rigid-Body Motion (Chapter 3.3.3)4分鐘
Wrenches (Chapter 3.4)3分鐘
1 個閱讀材料
Chapters 3.3 and 3.41小時
6 個練習
Lecture Comprehension, Homogeneous Transformation Matrices (Chapter 3 through 3.3.1)8分鐘
Lecture Comprehension, Twists (Chapter 3.3.2, Part 1 of 2)6分鐘
Lecture Comprehension, Twists (Chapter 3.3.2, Part 2 of 2)4分鐘
Lecture Comprehension, Exponential Coordinates of Rigid-Body Motion (Chapter 3.3.3)12分鐘
Lecture Comprehension, Wrenches (Chapter 3.4)4分鐘
Chapters 3.3 and 3.4, Rigid-Body Motions2小時

## 關於 Modern Robotics: Mechanics, Planning, and Control 專項課程

This Specialization provides a rigorous treatment of spatial motion and the dynamics of rigid bodies, employing representations from modern screw theory and the product of exponentials formula. Students with a freshman-level engineering background will quickly learn to apply these tools to analysis, planning, and control of robot motion. Students' understanding of the mathematics of robotics will be solidified by writing robotics software. Students will test their software on a free state-of-the-art cross-platform robot simulator, allowing each student to have an authentic robot programming experience with industrial robot manipulators and mobile robots without purchasing expensive robot hardware. It is highly recommended that Courses 1-6 of the Specialization are taken in order, since the material builds on itself....

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