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1

## Chapter 4: Forward Kinematics

3 個視頻 （總計 15 分鐘）, 3 個閱讀材料, 4 個測驗
3 個視頻
Product of Exponentials Formula in the End-Effector Frame (Chapter 4.1.3)4分鐘
Forward Kinematics Example3分鐘
3 個閱讀材料
Welcome to Course 2, Robot Kinematics10分鐘
How to Make This Course Successful5分鐘
Chapter 4, Forward Kinematics1小時
4 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 Kinematics1 小時 20 分
2

## Chapter 5: Velocity Kinematics and Statics

6 個視頻 （總計 34 分鐘）, 1 個閱讀材料, 7 個測驗
6 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
1 個閱讀材料
Chapter 5, Velocity Kinematics and Statics2小時
7 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 Statics1 小時 30 分
3

## Chapter 6: Inverse Kinematics

3 個視頻 （總計 14 分鐘）, 1 個閱讀材料, 5 個測驗
3 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
1 個閱讀材料
Chapter 6, Inverse Kinematics1 小時 30 分
4 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

## Chapter 7: Kinematics of Closed Chains

1 個視頻 （總計 9 分鐘）, 1 個閱讀材料, 2 個測驗
1 個視頻
1 個閱讀材料
Chapter 7, Kinematics of Closed Chains1小時
2 個練習
Lecture Comprehension, Kinematics of Closed Chains (Chapter 7)2分鐘
Chapter 7, Kinematics of Closed Chains20分鐘

## 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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