課程信息
4.7
3 個評分
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9 小時

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

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

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 (總計 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
完成時間(小時)
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 (總計 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
完成時間(小時)
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 (總計 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
完成時間(小時)
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

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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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