Modern Robotics: Mechanics, Planning, and Control 專項課程
The most important concepts in modern robotics. A study of the kinematics, dynamics, motion planning, and control of mobile robots and robot arms.
In the projects, students build on provided free software, written in multiple languages, allowing each student to choose their favorite language. Projects include writing a simulator for a robot arm, writing a robot motion planner, and writing software for trajectory planning and feedback control of a mobile manipulator consisting of a wheeled mobile robot and a robot arm. All software is tested on the robot simulator.
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Each of the six courses is scheduled for 4 weeks, with a typical week requiring approximately 5 hours of work (reading, videos, quizzes, and projects). If you work steadily, you should be able to complete the Specialization in 24 weeks, with a total of approximately 120 hours of work.
What background knowledge is necessary?
This specialization is designed to be accessible to students who have taken typical college first-year (freshman) engineering courses. The student should have an understanding of:
Freshman-level physics, including f = ma; masses, springs, and dampers; vector forces; and vector torques (or moments) as the cross product of a distance vector and a force;
Linear algebra, including matrix operations, positive definiteness of a matrix, determinants, complex numbers, eigenvalues, and eigenvectors;
Some calculus, derivatives, and partial derivatives;
Basic linear ordinary differential equations; and
A little bit of programming experience.
Do I need to take the courses in a specific order?
It is highly recommended you follow the courses in the specified order, since the material builds on itself throughout the Specialization.
Upon completing the Specialization, you will have studied material that might normally be covered in two semesters at the university level. You will be able to represent motions and forces (wrenches) in three-dimensional space; mathematically model the forward, inverse, and velocity kinematics of open- and closed-chain robots; plan collision-free robot motions among obstacles; analyze robot manipulation tasks with rigid bodies in frictional contact; and derive motion planners and feedback controllers for wheeled mobile robots. You will be able to write software supporting all of these activities, and you will verify your software on a state-of-the-art robot simulator. The high-level software you develop will be useful for almost any physical robot, once it is supplemented with drivers that connect the high-level software to the specific robot hardware.
Finally, upon completing this Specialization you will be equipped to take graduate-level courses in robot motion planning, manipulation, and control, or to interview confidently for a job in robot control.