課程信息
4.8
13 個評分
2 個審閱
專項課程
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100% 在線

立即開始,按照自己的計劃學習。
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中級

中級

完成時間(小時)

完成時間大約為15 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)
專項課程
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15 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 5 小時

Chapter 8: Dynamics of Open Chains (Part 1 of 2)

Lagrangian formulation of dynamics, centripetal and Coriolis forces, robot mass matrix, dynamics of a rigid body, and Newton-Euler inverse dynamics for an open-chain robot....
Reading
6 個視頻 (總計 34 分鐘), 2 個閱讀材料, 7 個測驗
Video6 個視頻
Lagrangian Formulation of Dynamics (Chapter 8 through 8.1.2, Part 2 of 2)5分鐘
Understanding the Mass Matrix (Chapter 8.1.3)5分鐘
Dynamics of a Single Rigid Body (Chapter 8.2, Part 1 of 2)6分鐘
Dynamics of a Single Rigid Body (Chapter 8.2, Part 2 of 2)4分鐘
Newton-Euler Inverse Dynamics (Chapter 8.3)5分鐘
Reading2 個閱讀材料
Welcome to Course 3, Robot Dynamics10分鐘
Chapter 8 through 8.330分鐘
Quiz7 個練習
Lecture Comprehension, Lagrangian Formulation of Dynamics (Chapter 8 through 8.1.2, Part 1 of 2)6分鐘
Lecture Comprehension, Lagrangian Formulation of Dynamics (Chapter 8 through 8.1.2, Part 2 of 2)6分鐘
Lecture Comprehension, Understanding the Mass Matrix (Chapter 8.1.3)6分鐘
Lecture Comprehension, Dynamics of a Single Rigid Body (Chapter 8.2, Part 1 of 2)8分鐘
Lecture Comprehension, Dynamics of a Single Rigid Body (Chapter 8.2, Part 2 of 2)8分鐘
Lecture Comprehension, Newton-Euler Inverse Dynamics (Chapter 8.3)10分鐘
Chapter 8 through 8.3, Dynamics of Open Chains30分鐘
2
完成時間(小時)
完成時間為 5 小時

Chapter 8: Dynamics of Open Chains (Part 2 of 2)

Forward dynamics of an open chain, task-space dynamics, constrained dynamics, and practical effects due to gearing and friction....
Reading
4 個視頻 (總計 16 分鐘), 1 個閱讀材料, 6 個測驗
Video4 個視頻
Dynamics in the Task Space (Chapter 8.6)1分鐘
Constrained Dynamics (Chapter 8.7)4分鐘
Actuation, Gearing, and Friction (Chapter 8.9)6分鐘
Reading1 個閱讀材料
Chapters 8.5-8.7 and 8.9分鐘
Quiz5 個練習
Lecture Comprehension, Forward Dynamics of Open Chains (Chapter 8.5)4分鐘
Lecture Comprehension, Dynamics in the Task Space (Chapter 8.6)2分鐘
Lecture Comprehension, Constrained Dynamics (Chapter 8.7)4分鐘
Lecture Comprehension, Actuation, Gearing, and Friction (Chapter 8.9)4分鐘
Chapter 8.5-8.7 and 8.9, Dynamics of Open Chains40分鐘
3
完成時間(小時)
完成時間為 3 小時

Chapter 9: Trajectory Generation (Part 1 of 2)

Point-to-point "straight-line" trajectories and polynomial trajectories passing through via points....
Reading
3 個視頻 (總計 12 分鐘), 1 個閱讀材料, 4 個測驗
Video3 個視頻
Point-to-Point Trajectories (Chapter 9 through 9.2, Part 2 of 2)3分鐘
Polynomial Via Point Trajectories (Chapter 9.3)2分鐘
Reading1 個閱讀材料
Chapter 9 through 9.3分鐘
Quiz4 個練習
Lecture Comprehension, Point-to-Point Trajectories (Chapter 9 through 9.2, Part 1 of 2)8分鐘
Lecture Comprehension, Point-to-Point Trajectories (Chapter 9 through 9.2, Part 2 of 2)2分鐘
Lecture Comprehension, Polynomial Via Point Trajectories (Chapter 9.3)6分鐘
Chapter 9 through 9.3, Trajectory Generation45分鐘
4
完成時間(小時)
完成時間為 3 小時

Chapter 9: Trajectory Generation (Part 2 of 2)

Time-optimal motions along a specified path subject to robot dynamics and actuator limits....
Reading
3 個視頻 (總計 17 分鐘), 1 個閱讀材料, 4 個測驗
Video3 個視頻
Time-Optimal Time Scaling (Chapter 9.4, Part 2 of 3)6分鐘
Time-Optimal Time Scaling (Chapter 9.4, Part 3 of 3)4分鐘
Reading1 個閱讀材料
Chapter 9.4分鐘
Quiz4 個練習
Lecture Comprehension, Time-Optimal Time Scaling (Chapter 9.4, Part 1 of 3)6分鐘
Lecture Comprehension, Time-Optimal Time Scaling (Chapter 9.4, Part 2 of 3)10分鐘
Lecture Comprehension, Time-Optimal Time Scaling (Chapter 9.4, Part 3 of 3)6分鐘
Chapter 9.4, Trajectory Generation分鐘
4.8
2 個審閱Chevron Right

熱門審閱

創建者 SMOct 14th 2018

Concepts and Explanation is great if you are trying to go into robotics career

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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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