À propos de ce cours
4.8
10 notes
2 avis
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 3 of the specialization, Robot Dynamics, you will learn efficient numerical algorithms for forward dynamics (calculating the robot's acceleration given its configuration, velocity, and joint forces and torques) and inverse dynamics (calculating the required joint forces and torques given the robot's configuration, velocity, and acceleration). The former is useful for simulation, and the latter is useful for robot control. You will also learn how to plan robot trajectories subject to dynamic constraints. 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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Intermediate Level

Niveau intermédiaire

Clock

Approx. 13 hours to complete

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

Approx. 13 hours to complete

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

English

Sous-titres : English...

Programme du cours : ce que vous apprendrez dans ce cours

Week
1
Clock
5 heures pour terminer

Chapter 8: Dynamics of Open Chains (Part 1 of 2)

Lagrangian formulation of dynamics, centripetal and Coriolis forces, robot mass matrix, dynamics of a rigid body, and Newton-Euler inverse dynamics for an open-chain robot....
Reading
6 vidéos (Total 34 min), 2 lectures, 7 quiz
Video6 vidéos
Lagrangian Formulation of Dynamics (Chapter 8 through 8.1.2, Part 2 of 2)5 min
Understanding the Mass Matrix (Chapter 8.1.3)5 min
Dynamics of a Single Rigid Body (Chapter 8.2, Part 1 of 2)6 min
Dynamics of a Single Rigid Body (Chapter 8.2, Part 2 of 2)4 min
Newton-Euler Inverse Dynamics (Chapter 8.3)5 min
Reading2 lectures
Welcome to Course 3, Robot Dynamics10 min
Chapter 8 through 8.330 min
Quiz7 exercices pour s'entraîner
Lecture Comprehension, Lagrangian Formulation of Dynamics (Chapter 8 through 8.1.2, Part 1 of 2)6 min
Lecture Comprehension, Lagrangian Formulation of Dynamics (Chapter 8 through 8.1.2, Part 2 of 2)6 min
Lecture Comprehension, Understanding the Mass Matrix (Chapter 8.1.3)6 min
Lecture Comprehension, Dynamics of a Single Rigid Body (Chapter 8.2, Part 1 of 2)8 min
Lecture Comprehension, Dynamics of a Single Rigid Body (Chapter 8.2, Part 2 of 2)8 min
Lecture Comprehension, Newton-Euler Inverse Dynamics (Chapter 8.3)10 min
Chapter 8 through 8.3, Dynamics of Open Chains30 min
Week
2
Clock
5 heures pour terminer

Chapter 8: Dynamics of Open Chains (Part 2 of 2)

Forward dynamics of an open chain, task-space dynamics, constrained dynamics, and practical effects due to gearing and friction....
Reading
4 vidéos (Total 16 min), 1 lecture, 6 quiz
Video4 vidéos
Dynamics in the Task Space (Chapter 8.6)1 min
Constrained Dynamics (Chapter 8.7)4 min
Actuation, Gearing, and Friction (Chapter 8.9)6 min
Reading1 lecture
Chapters 8.5-8.7 and 8.9 min
Quiz5 exercices pour s'entraîner
Lecture Comprehension, Forward Dynamics of Open Chains (Chapter 8.5)4 min
Lecture Comprehension, Dynamics in the Task Space (Chapter 8.6)2 min
Lecture Comprehension, Constrained Dynamics (Chapter 8.7)4 min
Lecture Comprehension, Actuation, Gearing, and Friction (Chapter 8.9)4 min
Chapter 8.5-8.7 and 8.9, Dynamics of Open Chains40 min
Week
3
Clock
3 heures pour terminer

Chapter 9: Trajectory Generation (Part 1 of 2)

Point-to-point "straight-line" trajectories and polynomial trajectories passing through via points....
Reading
3 vidéos (Total 12 min), 1 lecture, 4 quiz
Video3 vidéos
Point-to-Point Trajectories (Chapter 9 through 9.2, Part 2 of 2)3 min
Polynomial Via Point Trajectories (Chapter 9.3)2 min
Reading1 lecture
Chapter 9 through 9.3 min
Quiz4 exercices pour s'entraîner
Lecture Comprehension, Point-to-Point Trajectories (Chapter 9 through 9.2, Part 1 of 2)8 min
Lecture Comprehension, Point-to-Point Trajectories (Chapter 9 through 9.2, Part 2 of 2)2 min
Lecture Comprehension, Polynomial Via Point Trajectories (Chapter 9.3)6 min
Chapter 9 through 9.3, Trajectory Generation45 min
Week
4
Clock
3 heures pour terminer

Chapter 9: Trajectory Generation (Part 2 of 2)

Time-optimal motions along a specified path subject to robot dynamics and actuator limits....
Reading
3 vidéos (Total 17 min), 1 lecture, 4 quiz
Video3 vidéos
Time-Optimal Time Scaling (Chapter 9.4, Part 2 of 3)6 min
Time-Optimal Time Scaling (Chapter 9.4, Part 3 of 3)4 min
Reading1 lecture
Chapter 9.4 min
Quiz4 exercices pour s'entraîner
Lecture Comprehension, Time-Optimal Time Scaling (Chapter 9.4, Part 1 of 3)6 min
Lecture Comprehension, Time-Optimal Time Scaling (Chapter 9.4, Part 2 of 3)10 min
Lecture Comprehension, Time-Optimal Time Scaling (Chapter 9.4, Part 3 of 3)6 min
Chapter 9.4, Trajectory Generation min
4.8

Meilleurs avis

par SMOct 14th 2018

Concepts and Explanation is great if you are trying to go into robotics career

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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