À propos de ce cours
4.7
59 ratings
17 reviews
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 1 of the specialization, Foundations of Robot Motion, you will learn fundamental material regarding robot configurations, for both serial robot mechanisms and robots with closed chains. You will learn about configuration space (C-space), degrees of freedom, C-space topology, implicit and explicit representations of configurations, and holonomic and nonholonomic constraints. You will also learn how to represent spatial velocities and forces as twists and wrenches. This material is at the core of the study of anything that moves (e.g., robots). 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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Commencez dès maintenant et apprenez aux horaires qui vous conviennent.
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Intermediate Level

Niveau intermédiaire

Clock

Recommandé : This course requires 4 weeks of study of approximately 3-5 hours/week.

Approx. 16 heures pour terminer
Comment Dots

English

Sous-titres : English
Globe

Cours en ligne à 100 %

Commencez dès maintenant et apprenez aux horaires qui vous conviennent.
Calendar

Dates limites flexibles

Réinitialisez les dates limites selon votre disponibilité.
Intermediate Level

Niveau intermédiaire

Clock

Recommandé : This course requires 4 weeks of study of approximately 3-5 hours/week.

Approx. 16 heures pour terminer
Comment Dots

English

Sous-titres : English

Programme du cours : ce que vous apprendrez dans ce cours

1

Section
Clock
3 heures pour terminer

Introduction to Modern Robotics

Introduction to the specialization, the Modern Robotics code library, the V-REP robot simulator, and the lightboard video-generation tool....
Reading
2 vidéos (Total 2 min), 4 lectures
Video2 vidéos
Introduction to the Lightboard1 min
Reading4 lectures
Welcome to the Specialization!10 min
Modern Robotics (MR) Code Library and Your Programming Language10 min
V-REP Robot Simulator min
(Optional) Chapter 140 min
Clock
2 heures pour terminer

Chapter 2: Configuration Space (Part 1 of 2)

Configuration space and degrees of freedom of rigid bodies and robots....
Reading
3 vidéos (Total 13 min), 2 lectures, 3 quiz
Video3 vidéos
Degrees of Freedom of a Rigid Body (Chapter 2 through 2.1)5 min
Degrees of Freedom of a Robot (Chapter 2.2)5 min
Reading2 lectures
Welcome to Course 1, Foundations of Robot Motion10 min
Chapter 2 through 2.240 min
Quiz3 exercices pour s'entraîner
Lecture Comprehension, Degrees of Freedom of a Rigid Body (Chapter 2 through 2.1)10 min
Lecture Comprehension, Degrees of Freedom of a Robot (Chapter 2.2)6 min
Chapter 2 through 2.2, Configuration Space50 min

2

Section
Clock
2 heures pour terminer

Chapter 2: Configuration Space (Part 2 of 2)

Configuration space topology and representation; configuration and velocity constraints; task space and workspace....
Reading
4 vidéos (Total 14 min), 1 lecture, 5 quiz
Video4 vidéos
Configuration Space Representation (Chapter 2.3.2)3 min
Configuration and Velocity Constraints (Chapter 2.4)4 min
Task Space and Workspace (Chapter 2.5)1 min
Reading1 lecture
Chapters 2.3-2.5 min
Quiz5 exercices pour s'entraîner
Lecture Comprehension, Configuration Space Topology (Chapter 2.3.1)4 min
Lecture Comprehension, Configuration Space Representation (Chapter 2.3.2)4 min
Lecture Comprehension, Configuration and Velocity Constraints (Chapter 2.4)8 min
Lecture Comprehension, Task Space and Workspace (Chapter 2.5)4 min
Chapter 2.3 through 2.5, Configuration Space50 min

3

Section
Clock
4 heures pour terminer

Chapter 3: Rigid-Body Motions (Part 1 of 2)

Rigid-body motions, rotation matrices, angular velocities, and exponential coordinates of rotation....
Reading
6 vidéos (Total 18 min), 1 lecture, 7 quiz
Video6 vidéos
Rotation Matrices (Chapter 3.2.1, Part 1 of 2)2 min
Rotation Matrices (Chapter 3.2.1, Part 2 of 2)4 min
Angular Velocities (Chapter 3.2.2)3 min
Exponential Coordinates of Rotation (Chapter 3.2.3, Part 1 of 2)2 min
Exponential Coordinates of Rotation (Chapter 3.2.3, Part 2 of 2)3 min
Reading1 lecture
Chapter 3 through 3.2 min
Quiz7 exercices pour s'entraîner
Lecture Comprehension, Introduction to Rigid-Body Motions (Chapter 3 through 3.1)8 min
Lecture Comprehension, Rotation Matrices (Chapter 3.2.1, Part 1 of 2)8 min
Lecture Comprehension, Rotation Matrices (Chapter 3.2.1, Part 2 of 2)6 min
Lecture Comprehension, Angular Velocities (Chapter 3.2.2)12 min
Lecture Comprehension, Exponential Coordinates of Rotation (Chapter 3.2.3, Part 1 of 2)6 min
Lecture Comprehension, Exponential Coordinates of Rotation (Chapter 3.2.3, Part 2 of 2)6 min
Chapter 3 through 3.2, Rigid-Body Motions min

4

Section
Clock
5 heures pour terminer

Chapter 3: Rigid-Body Motions (Part 2 of 2)

Homogeneous transformation matrices, twists, screws, exponential coordinates of rigid-body motion, and wrenches....
Reading
5 vidéos (Total 22 min), 1 lecture, 7 quiz
Video5 vidéos
Twists (Chapter 3.3.2, Part 1 of 2)4 min
Twists (Chapter 3.3.2, Part 2 of 2)2 min
Exponential Coordinates of Rigid-Body Motion (Chapter 3.3.3)4 min
Wrenches (Chapter 3.4)3 min
Reading1 lecture
Chapters 3.3 and 3.4 min
Quiz6 exercices pour s'entraîner
Lecture Comprehension, Homogeneous Transformation Matrices (Chapter 3 through 3.3.1)8 min
Lecture Comprehension, Twists (Chapter 3.3.2, Part 1 of 2)6 min
Lecture Comprehension, Twists (Chapter 3.3.2, Part 2 of 2)4 min
Lecture Comprehension, Exponential Coordinates of Rigid-Body Motion (Chapter 3.3.3)12 min
Lecture Comprehension, Wrenches (Chapter 3.4)4 min
Chapters 3.3 and 3.4, Rigid-Body Motions min
4.7

Meilleurs avis

par AEAug 20th 2018

An excellent introduction to Screw theory and to Parallel manipulators in general for any one who wants to start developing or working on closed chain robots.

par SKJun 9th 2018

I think building the foundation strong is very much required and the planning of starting it with basic concept of D.O.F could greatly help.

Enseignant

Kevin Lynch

Professor
Mechanical Engineering

À propos de 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. ...

À propos de la Spécialisation Modern Robotics: Mechanics, Planning, and Control

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

Foire Aux Questions

  • 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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