課程信息
4.8
26 個評分
6 個審閱
100% 在線

100% 在線

立即開始,按照自己的計劃學習。
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可靈活調整截止日期

根據您的日程表重置截止日期。
中級

中級

完成時間(小時)

完成時間大約為16 小時

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

英語(English)

字幕:英語(English)
100% 在線

100% 在線

立即開始,按照自己的計劃學習。
可靈活調整截止日期

可靈活調整截止日期

根據您的日程表重置截止日期。
中級

中級

完成時間(小時)

完成時間大約為16 小時

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

英語(English)

字幕:英語(English)

教學大綱 - 您將從這門課程中學到什麼

1
完成時間(小時)
完成時間為 3 小時

Chapter 4: Forward Kinematics

Product of exponentials formula for forward kinematics in the space frame and the end-effector frame....
Reading
3 個視頻 (總計 15 分鐘), 2 個閱讀材料, 4 個測驗
Video3 個視頻
Product of Exponentials Formula in the End-Effector Frame (Chapter 4.1.3)4分鐘
Forward Kinematics Example3分鐘
Reading2 個閱讀材料
Welcome to Course 2, Robot Kinematics10分鐘
Chapter 4, Forward Kinematics分鐘
Quiz4 個練習
Lecture Comprehension, Product of Exponentials Formula in the Space Frame (Chapter 4 through 4.1.2)6分鐘
Lecture Comprehension, Product of Exponentials Formula in the End-Effector Frame (Chapter 4.1.3)4分鐘
Lecture Comprehension, Forward Kinematics Example2分鐘
Chapter 4, Forward Kinematics20分鐘
2
完成時間(小時)
完成時間為 5 小時

Chapter 5: Velocity Kinematics and Statics

Velocity kinematics using the space Jacobian and body Jacobian, statics of open chains, singularities, and manipulability....
Reading
6 個視頻 (總計 34 分鐘), 1 個閱讀材料, 7 個測驗
Video6 個視頻
Space Jacobian (Chapter 5.1 through 5.1.1)5分鐘
Body Jacobian (Chapter 5.1.2 through 5.1.4)4分鐘
Statics of Open Chains (Chapter 5.2)2分鐘
Singularities (Chapter 5.3)6分鐘
Manipulability (Chapter 5.4)5分鐘
Reading1 個閱讀材料
Chapter 5, Velocity Kinematics and Statics分鐘
Quiz7 個練習
Lecture Comprehension, Velocity Kinematics and Statics (Chapter 5 Introduction)14分鐘
Lecture Comprehension, Space Jacobian (Chapter 5.1 through 5.1.1)12分鐘
Lecture Comprehension, Body Jacobian (Chapter 5.1.2 through 5.1.4)4分鐘
Lecture Comprehension, Statics of Open Chains (Chapter 5.2)2分鐘
Lecture Comprehension, Singularities (Chapter 5.3)6分鐘
Lecture Comprehension, Manipulability (Chapter 5.4)6分鐘
Chapter 5, Velocity Kinematics and Statics30分鐘
3
完成時間(小時)
完成時間為 5 小時

Chapter 6: Inverse Kinematics

Analytical and numerical inverse kinematics....
Reading
3 個視頻 (總計 14 分鐘), 1 個閱讀材料, 5 個測驗
Video3 個視頻
Numerical Inverse Kinematics (Chapter 6.2, Part 1 of 2)5分鐘
Numerical Inverse Kinematics (Chapter 6.2, Part 2 of 2)4分鐘
Reading1 個閱讀材料
Chapter 6, Inverse Kinematics30分鐘
Quiz4 個練習
Lecture Comprehension, Inverse Kinematics of Open Chains (Chapter 6 Introduction)4分鐘
Lecture Comprehension, Numerical Inverse Kinematics (Chapter 6.2, Part 1 of 2)8分鐘
Lecture Comprehension, Numerical Inverse Kinematics (Chapter 6.2, Part 2 of 2)2分鐘
Chapter 6, Inverse Kinematics30分鐘
4
完成時間(小時)
完成時間為 2 小時

Chapter 7: Kinematics of Closed Chains

Forward kinematics, inverse kinematics, velocity kinematics, and statics of closed chains....
Reading
1 個視頻 (總計 9 分鐘), 1 個閱讀材料, 2 個測驗
Reading1 個閱讀材料
Chapter 7, Kinematics of Closed Chains分鐘
Quiz2 個練習
Lecture Comprehension, Kinematics of Closed Chains (Chapter 7)2分鐘
Chapter 7, Kinematics of Closed Chains20分鐘
4.8
6 個審閱Chevron Right

熱門審閱

創建者 SSOct 1st 2018

It is a great start for learning kinematics of open chain robots, i wish i could learn ore about the closed chain robots too, but they have given the boost, now its your turn to learn more and more

創建者 JMDec 10th 2018

More difficult that most Coursera offerings. Lots and lots of glorious math!\n\nI really enjoyed it.

講師

Avatar

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

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