課程信息
4.8
5 個評分
1 個審閱

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

根據您的日程表重置截止日期。

中級

完成時間大約為8 小時

建議:The capstone project requires approximately 20 hours of effort, depending on your programming skill....

英語(English)

字幕:英語(English)

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

根據您的日程表重置截止日期。

中級

完成時間大約為8 小時

建議:The capstone project requires approximately 20 hours of effort, depending on your programming skill....

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
完成時間為 5 小時

Introduction to the Capstone Project, and Milestone 1

Odometry for wheeled mobile robots and its use in a kinematic simulator for the youBot omnidirectional mobile robot with four mecanum wheels. ...
5 個視頻 (總計 17 分鐘), 2 個閱讀材料
5 個視頻
Video Summary of the Capstone Project2分鐘
(Optional Review) Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 1 of 2)6分鐘
(Optional Review) Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 2 of 2)3分鐘
(Optional Review) Odometry (Chapter 13.4)4分鐘
2 個閱讀材料
Welcome to Course 6, Capstone Project on Mobile Manipulation10分鐘
Milestone 1: youBot Kinematics Simulator and csv Output
2
完成時間為 5 小時

Milestone 2: Reference Trajectory Generation

Generating a reference trajectory in SE(3) for the end-effector of a mobile manipulator to achieve a pick-and-place task....
3 個視頻 (總計 9 分鐘), 1 個閱讀材料
3 個視頻
(Optional Review) Point-to-Point Trajectories (Chapters 9.1 and 9.2, Part 1 of 2)5分鐘
(Optional Review) Point-to-Point Trajectories (Chapters 9.1 and 9.2, Part 1 of 2)3分鐘
1 個閱讀材料
Milestone 2: Reference Trajectory Generation
3
完成時間為 5 小時

Milestone 3: Feedforward Control

Feedforward control of the end-effector of a mobile manipulator to drive the end-effector along a reference trajectory. ...
4 個視頻 (總計 20 分鐘), 1 個閱讀材料
4 個視頻
(Optional Review) Body Jacobian (Chapter 5.1.2)4分鐘
(Optional Review) Motion Control with Velocity Inputs (Chapter 11.3, Part 3 of 3)4分鐘
(Optional Review) Mobile Manipulation (Chapter 13.5)6分鐘
1 個閱讀材料
Milestone 3: Feedforward Control
4
完成時間為 5 小時

Completing the Project and Your Submission

Feedforward-plus-feedback control of the end-effector of a mobile manipulator to stabilize a reference trajectory for the end-effector....
1 個閱讀材料, 1 個測驗
1 個閱讀材料
Completing the Project and Your Submission10分鐘

講師

Avatar

Kevin Lynch

Professor
Mechanical Engineering

關於 西北大学

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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