28,513 次近期查看

1

## Chapter 10: Motion Planning (Part 1 of 2)

5 個視頻 （總計 24 分鐘）, 3 個閱讀材料, 7 個測驗
5 個視頻
C-Space Obstacles (Chapter 10.2.1)4分鐘
Graphs and Trees (Chapter 10.2.3)2分鐘
Graph Search (Chapter 10.2.4)9分鐘
Complete Path Planners (Chapter 10.3)3分鐘
3 個閱讀材料
Welcome to Course 4, Robot Motion Planning and Control10分鐘
How to Make This Course Successful5分鐘
Chapter 10 through 10.31 小時 30 分
6 個練習
Lecture Comprehension, Overview of Motion Planning (Chapter 10.1)4分鐘
Lecture Comprehension, C-Space Obstacles (Chapter 10.2.1)2分鐘
Lecture Comprehension, Graphs and Trees (Chapter 10.2.3)2分鐘
Lecture Comprehension, Graph Search (Chapter 10.2.4)6分鐘
Lecture Comprehension, Complete Path Planners (Chapter 10.3)2分鐘
Chapter 10 through 10.3, Motion Planning15分鐘
2

## Chapter 10: Motion Planning (Part 2 of 2)

5 個視頻 （總計 25 分鐘）, 1 個閱讀材料, 7 個測驗
5 個視頻
Sampling Methods for Motion Planning (Chapter 10.5, Part 1 of 2)3分鐘
Sampling Methods for Motion Planning (Chapter 10.5, Part 2 of 2)7分鐘
Virtual Potential Fields (Chapter 10.6)5分鐘
Nonlinear Optimization (Chapter 10.7)5分鐘
1 個閱讀材料
Chapter 10.4 through 10.72小時
6 個練習
Lecture Comprehension, Grid Methods for Motion Planning (Chapter 10.4)6分鐘
Lecture Comprehension, Sampling Methods for Motion Planning (Chapter 10.5, Part 1 of 2)2分鐘
Lecture Comprehension, Sampling Methods for Motion Planning (Chapter 10.5, Part 2 of 2)4分鐘
Lecture Comprehension, Virtual Potential Fields (Chapter 10.6)4分鐘
Lecture Comprehension, Nonlinear Optimization (Chapter 10.7)4分鐘
Chapter 10.4 through 10.7, Motion Planning8分鐘
3

## Chapter 11: Robot Control (Part 1 of 2)

8 個視頻 （總計 33 分鐘）, 1 個閱讀材料, 9 個測驗
8 個視頻
Error Response (Chapter 11.2.1)2分鐘
Linear Error Dynamics (Chapter 11.2.2)4分鐘
First-Order Error Dynamics (Chapter 11.2.2.1)1分鐘
Second-Order Error Dynamics (Chapter 11.2.2.2)5分鐘
Motion Control with Velocity Inputs (Chapter 11.3, Part 1 of 3)4分鐘
Motion Control with Velocity Inputs (Chapter 11.3, Part 2 of 3)6分鐘
Motion Control with Velocity Inputs (Chapter 11.3, Part 3 of 3)4分鐘
1 個閱讀材料
Chapter 11 through 11.32小時
9 個練習
Lecture Comprehension, Control System Overview (Chapter 11.1)4分鐘
Lecture Comprehension, Error Response (Chapter 11.2.1)2分鐘
Lecture Comprehension, Linear Error Dynamics (Chapter 11.2.2)4分鐘
Lecture Comprehension, First-Order Error Dynamics (Chapter 11.2.2.1)6分鐘
Lecture Comprehension, Second-Order Error Dynamics (Chapter 11.2.2.2)4分鐘
Lecture Comprehension, Motion Control with Velocity Inputs (Chapter 11.3, Part 1 of 3)6分鐘
Lecture Comprehension, Motion Control with Velocity Inputs (Chapter 11.3, Part 2 of 3)2分鐘
Lecture Comprehension, Motion Control with Velocity Inputs (Chapter 11.3, Part 3 of 3)8分鐘
Chapter 11 through 11.3, Robot Control1小時
4

## Chapter 11: Robot Control (Part 2 of 2)

5 個視頻 （總計 25 分鐘）, 1 個閱讀材料, 6 個測驗
5 個視頻
Motion Control with Torque or Force Inputs (Chapter 11.4, Part 2 of 3)5分鐘
Motion Control with Torque or Force Inputs (Chapter 11.4, Part 3 of 3)7分鐘
Force Control (Chapter 11.5)2分鐘
Hybrid Motion-Force Control (Chapter 11.6)5分鐘
1 個閱讀材料
Chapter 11.4 through 11.62小時
6 個練習
Lecture Comprehension, Motion Control with Torque or Force Inputs (Chapter 11.4, Part 1 of 3)2分鐘
Lecture Comprehension, Motion Control with Torque or Force Inputs (Chapter 11.4, Part 2 of 3)6分鐘
Lecture Comprehension, Motion Control with Torque or Force Inputs (Chapter 11.4, Part 3 of 3)4分鐘
Lecture Comprehension, Force Control (Chapter 11.5)2分鐘
Lecture Comprehension, Hybrid Motion-Force Control (Chapter 11.6)2分鐘
Chapter 11.4 through 11.6, Robot Control30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....

## 常見問題

• 注册以便获得证书后，您将有权访问所有视频、测验和编程作业（如果适用）。只有在您的班次开课之后，才可以提交和审阅同学互评作业。如果您选择在不购买的情况下浏览课程，可能无法访问某些作业。

• 您注册课程后，将有权访问专项课程中的所有课程，并且会在完成课程后获得证书。您的电子课程证书将添加到您的成就页中，您可以通过该页打印您的课程证书或将其添加到您的领英档案中。如果您只想阅读和查看课程内容，可以免费旁听课程。

• 如果订阅，您可以获得 7 天免费试听，在此期间，您可以取消课程，无需支付任何罚金。在此之后，我们不会退款，但您可以随时取消订阅。请阅读我们完整的退款政策

• 是的，Coursera 可以为无法承担费用的学生提供助学金。通过点击左侧“注册”按钮下的“助学金”链接可以申请助学金。您可以根据屏幕提示完成申请，申请获批后会收到通知。您需要针对专项课程中的每一门课程完成上述步骤，包括毕业项目。了解更多

• 此课程不提供大学学分，但部分大学可能会选择接受课程证书作为学分。查看您的合作院校，了解详情。Coursera 上的在线学位Mastertrack™ 证书提供获得大学学分的机会。