課程信息
4.7
60 個評分
17 個審閱
Do you want to know how robots work? Are you interested in robotics as a career? Are you willing to invest the effort to learn fundamental mathematical modeling techniques that are used in all subfields of robotics? If so, then the "Modern Robotics: Mechanics, Planning, and Control" specialization may be for you. This specialization, consisting of six short courses, is serious preparation for serious students who hope to work in the field of robotics or to undertake advanced study. It is not a sampler. In Course 1 of the specialization, Foundations of Robot Motion, you will learn fundamental material regarding robot configurations, for both serial robot mechanisms and robots with closed chains. You will learn about configuration space (C-space), degrees of freedom, C-space topology, implicit and explicit representations of configurations, and holonomic and nonholonomic constraints. You will also learn how to represent spatial velocities and forces as twists and wrenches. This material is at the core of the study of anything that moves (e.g., robots). This course follows the textbook "Modern Robotics: Mechanics, Planning, and Control" (Lynch and Park, Cambridge University Press 2017). You can purchase the book or use the free preprint pdf. You will build on a library of robotics software in the language of your choice (among Python, Mathematica, and MATLAB) and use the free cross-platform robot simulator V-REP, which allows you to work with state-of-the-art robots in the comfort of your own home and with zero financial investment....
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100% 在線課程

立即開始,按照自己的計劃學習。
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Intermediate Level

中級

Clock

Approx. 16 hours to complete

建議:This course requires 4 weeks of study of approximately 3-5 hours/week....
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English

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Globe

100% 在線課程

立即開始,按照自己的計劃學習。
Calendar

可靈活調整截止日期

根據您的日程表重置截止日期。
Intermediate Level

中級

Clock

Approx. 16 hours to complete

建議:This course requires 4 weeks of study of approximately 3-5 hours/week....
Comment Dots

English

字幕:English...

教學大綱 - 您將從這門課程中學到什麼

Week
1
Clock
完成時間為 3 小時

Introduction to Modern Robotics

Introduction to the specialization, the Modern Robotics code library, the V-REP robot simulator, and the lightboard video-generation tool....
Reading
2 個視頻(共 2 分鐘), 4 個閱讀材料
Video2 個視頻
Introduction to the Lightboard1分鐘
Reading4 個閱讀材料
Welcome to the Specialization!10分鐘
Modern Robotics (MR) Code Library and Your Programming Language10分鐘
V-REP Robot Simulator分鐘
(Optional) Chapter 140分鐘
Clock
完成時間為 2 小時

Chapter 2: Configuration Space (Part 1 of 2)

Configuration space and degrees of freedom of rigid bodies and robots....
Reading
3 個視頻(共 13 分鐘), 2 個閱讀材料, 3 個測驗
Video3 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
Reading2 個閱讀材料
Welcome to Course 1, Foundations of Robot Motion10分鐘
Chapter 2 through 2.240分鐘
Quiz3 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
Week
2
Clock
完成時間為 2 小時

Chapter 2: Configuration Space (Part 2 of 2)

Configuration space topology and representation; configuration and velocity constraints; task space and workspace....
Reading
4 個視頻(共 14 分鐘), 1 個閱讀材料, 5 個測驗
Video4 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
Reading1 個閱讀材料
Chapters 2.3-2.5分鐘
Quiz5 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
Week
3
Clock
完成時間為 4 小時

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

Rigid-body motions, rotation matrices, angular velocities, and exponential coordinates of rotation....
Reading
6 個視頻(共 18 分鐘), 1 個閱讀材料, 7 個測驗
Video6 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
Reading1 個閱讀材料
Chapter 3 through 3.2分鐘
Quiz7 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 Motions分鐘
Week
4
Clock
完成時間為 5 小時

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

Homogeneous transformation matrices, twists, screws, exponential coordinates of rigid-body motion, and wrenches....
Reading
5 個視頻(共 22 分鐘), 1 個閱讀材料, 7 個測驗
Video5 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
Reading1 個閱讀材料
Chapters 3.3 and 3.4分鐘
Quiz6 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 Motions分鐘
4.7

熱門審閱

創建者 AEAug 20th 2018

An excellent introduction to Screw theory and to Parallel manipulators in general for any one who wants to start developing or working on closed chain robots.

創建者 SKJun 9th 2018

I think building the foundation strong is very much required and the planning of starting it with basic concept of D.O.F could greatly help.

講師

Kevin Lynch

Professor
Mechanical Engineering

關於 Northwestern University

Northwestern University is a private research and teaching university with campuses in Evanston and Chicago, Illinois, and Doha, Qatar. Northwestern combines innovative teaching and pioneering research in a highly collaborative environment that transcends traditional academic boundaries. ...

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....
Modern Robotics:  Mechanics, Planning, and Control

常見問題

  • Once you enroll for a Certificate, you’ll have access to all videos, quizzes, and programming assignments (if applicable). Peer review assignments can only be submitted and reviewed once your session has begun. If you choose to explore the course without purchasing, you may not be able to access certain assignments.

  • When you enroll in the course, you get access to all of the courses in the Specialization, and you earn a certificate when you complete the work. Your electronic Certificate will be added to your Accomplishments page - from there, you can print your Certificate or add it to your LinkedIn profile. If you only want to read and view the course content, you can audit the course for free.

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