課程信息
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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 5 of the specialization, Robot Motion Planning and Wheeled Mobile Robots, we delve into advanced topics in robotics. Chapter 12, Grasping and Manipulation, of the "Modern Robotics" textbook covers the modeling of kinematics and forces between rigid bodies in contact, and applies the modeling to analysis and planning of robot grasping and other manipulation tasks. Chapter 13, Wheeled Mobile Robots, covers modeling, motion planning, and feedback control of omnidirectional and nonholonomic wheeled mobile robots, and concludes by addressing control of mobile manipulators consisting of a wheeled mobile base and a robot arm. 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

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

完成時間大約為22 小時
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English

字幕:English
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

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

完成時間大約為22 小時
Comment Dots

English

字幕:English

教學大綱 - 您將從這門課程中學到什麼

1

章節
Clock
完成時間為 6 小時

Chapter 12: Grasping and Manipulation (Part 1 of 2)

Kinematics of contact, contact types (rolling, sliding, and breaking), graphical methods for representing kinematic constraints in the plane, and form-closure grasping (complete kinematic constraint)....
Reading
7 個視頻(共 33 分鐘), 2 個閱讀材料, 9 個測驗
Video7 個視頻
First-Order Analysis of a Single Contact (Chapter 12.1.1)4分鐘
Contact Types: Rolling, Sliding, and Breaking (Chapter 12.1.2)5分鐘
Multiple Contacts (Chapter 12.1.3)4分鐘
Planar Graphical Methods (Chapter 12.1.6, Part 1 of 2)4分鐘
Planar Graphical Methods (Chapter 12.1.6, Part 2 of 2)4分鐘
Form Closure (Chapter 12.1.7)4分鐘
Reading2 個閱讀材料
Welcome to Course 5, Robot Manipulation and Wheeled Mobile Robots10分鐘
Chapter 12 through 12.1分鐘
Quiz8 個練習
Lecture Comprehension, Grasping and Manipulation (Chapter 12)8分鐘
Lecture Comprehension, First-Order Analysis of a Single Contact (Chapter 12.1.1)2分鐘
Lecture Comprehension, Contact Types: Rolling, Sliding, and Breaking (Chapter 12.1.2)6分鐘
Lecture Comprehension, Multiple Contacts (Chapter 12.1.3)2分鐘
Lecture Comprehension, Planar Graphical Methods (Chapter 12.1.6, Part 1 of 2)4分鐘
Lecture Comprehension, Planar Graphical Methods (Chapter 12.1.6, Part 2 of 2)4分鐘
Lecture Comprehension, Form Closure (Chapter 12.1.7)2分鐘
Chapter 12 through 12.1, Grasping and Manipulation分鐘

2

章節
Clock
完成時間為 9 小時

Chapter 12: Grasping and Manipulation (Part 2 of 2)

Coulomb friction, friction cones, graphical methods for representing forces and torques in the plane, force closure grasping, and examples of manipulation other than grasping....
Reading
6 個視頻(共 26 分鐘), 1 個閱讀材料, 8 個測驗
Video6 個視頻
Planar Graphical Methods (Chapter 12.2.2)4分鐘
Force Closure (Chapter 12.2.3)4分鐘
Duality of Force and Motion Freedoms (Chapter 12.2.4)3分鐘
Manipulation and the Meter-Stick Trick (Chapter 12.3)5分鐘
Transport of an Assembly (Chapter 12.3)3分鐘
Reading1 個閱讀材料
Chapter 12.2 through 12.330分鐘
Quiz7 個練習
Lecture Comprehension, Friction (Chapter 12.2.1)4分鐘
Lecture Comprehension, Planar Graphical Methods (Chapter 12.2.2)4分鐘
Lecture Comprehension, Force Closure (Chapter 12.2.3)6分鐘
Lecture Comprehension, Duality of Force and Motion Freedoms (Chapter 12.2.4)4分鐘
Lecture Comprehension, Manipulation and the Meter-Stick Trick (Chapter 12.3)2分鐘
Lecture Comprehension, Transport of an Assembly (Chapter 12.3)4分鐘
Chapter 12.2 through 12.3, Grasping and Manipulation10分鐘

3

章節
Clock
完成時間為 4 小時

Chapter 13: Wheeled Mobile Robots (Part 1 of 2)

Kinematic models of omnidirectional and nonholonomic wheeled mobile robots....
Reading
4 個視頻(共 16 分鐘), 1 個閱讀材料, 5 個測驗
Video4 個視頻
Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 1 of 2)6分鐘
Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 2 of 2)3分鐘
Modeling of Nonholonomic Wheeled Mobile Robots (Chapter 13.3.1)5分鐘
Reading1 個閱讀材料
Chapter 13 through 13.3.1分鐘
Quiz5 個練習
Lecture Comprehension, Wheeled Mobile Robots (Chapter 13.1)2分鐘
Lecture Comprehension, Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 1 of 2)2分鐘
Lecture Comprehension, Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 2 of 2)4分鐘
Lecture Comprehension, Modeling of Nonholonomic Wheeled Mobile Robots (Chapter 13.3.1)6分鐘
Chapter 13 through 13.3.1, Wheeled Mobile Robots15分鐘

4

章節
Clock
完成時間為 6 小時

Chapter 13: Wheeled Mobile Robots (Part 2 of 2)

Controllability, motion planning, and feedback control of nonholonomic wheeled mobile robots; odometry for wheeled mobile robots; and mobile manipulation....
Reading
8 個視頻(共 43 分鐘), 1 個閱讀材料, 9 個測驗
Video8 個視頻
Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 2 of 4)6分鐘
Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 3 of 4)5分鐘
Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 4 of 4)5分鐘
Motion Planning for Nonholonomic Mobile Robots (Chapter 13.3.3)5分鐘
Feedback Control for Nonholonomic Mobile Robots (Chapter 13.3.4)5分鐘
Odometry (Chapter 13.4)4分鐘
Mobile Manipulation (Chapter 13.5)6分鐘
Reading1 個閱讀材料
Chapter 13.3.2 through 13.530分鐘
Quiz9 個練習
Lecture Comprehension, Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 1 of 4)6分鐘
Lecture Comprehension, Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 2 of 4)12分鐘
Lecture Comprehension, Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 3 of 4)2分鐘
Lecture Comprehension, Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 4 of 4)4分鐘
Lecture Comprehension, Motion Planning for Nonholonomic Mobile Robots (Chapter 13.3.3)4分鐘
Lecture Comprehension, Feedback Control for Nonholonomic Mobile Robots (Chapter 13.3.4)4分鐘
Lecture Comprehension, Odometry (Chapter 13.4)2分鐘
Lecture Comprehension, Mobile Manipulation (Chapter 13.5)18分鐘
Chapter 13.3.2 through 13.5, Wheeled Mobile Robots20分鐘

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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