課程信息
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The capstone project of the Modern Robotics specialization is on mobile manipulation: simultaneously controlling the motion of a wheeled mobile base and its robot arm to achieve a manipulation task. This project integrates several topics from the specialization, including trajectory planning, odometry for mobile robots, and feedback control. Beginning from the Modern Robotics software library provided to you (written in Python, Mathematica, and MATLAB), and software you have written for previous courses, you will develop software to plan and control the motion of a mobile manipulator to perform a pick and place task. You will test your software on the KUKA youBot, a mobile manipulator consisting of an omnidirectional mecanum-wheel mobile base, a 5-joint robot arm, and a gripper. The state-of-the-art, cross-platform V-REP robot simulator will be used to simulate the task....
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Intermediate Level

中級

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

完成時間大約為9 小時
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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:The capstone project requires approximately 20 hours of effort, depending on your programming skill.

完成時間大約為9 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 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. ...
Reading
5 個視頻(共 17 分鐘), 2 個閱讀材料
Video5 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
Reading2 個閱讀材料
Welcome to Course 6, Capstone Project on Mobile Manipulation10分鐘
Milestone 1: youBot Kinematics Simulator and csv Output分鐘

2

章節
Clock
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....
Reading
3 個視頻(共 9 分鐘), 1 個閱讀材料
Video3 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
Reading1 個閱讀材料
Milestone 2: Reference Trajectory Generation分鐘

3

章節
Clock
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. ...
Reading
4 個視頻(共 20 分鐘), 1 個閱讀材料
Video4 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
Reading1 個閱讀材料
Milestone 3: Feedforward Control分鐘

4

章節
Clock
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....
Reading
1 個閱讀材料, 1 個測驗
Reading1 個閱讀材料
Completing the Project and Your Submission10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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