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.
Spécialisation Modern Robotics: Mechanics, Planning, and Control
The most important concepts in modern robotics. A study of the kinematics, dynamics, motion planning, and control of mobile robots and robot arms.
proposé par
Comment fonctionne la Spécialisation
Suivez les cours
Une Spécialisation Coursera est une série de cours axés sur la maîtrise d'une compétence. Pour commencer, inscrivez-vous directement à la Spécialisation ou passez en revue ses cours et choisissez celui par lequel vous souhaitez commencer. Lorsque vous vous abonnez à un cours faisant partie d'une Spécialisation, vous êtes automatiquement abonné(e) à la Spécialisation complète. Il est possible de terminer seulement un cours : vous pouvez suspendre votre formation ou résilier votre abonnement à tout moment. Rendez-vous sur votre tableau de bord d'étudiant pour suivre vos inscriptions aux cours et vos progrès.
Projet pratique
Chaque Spécialisation inclut un projet pratique. Vous devez réussir le(s) projet(s) pour terminer la Spécialisation et obtenir votre Certificat. Si la Spécialisation inclut un cours dédié au projet pratique, vous devrez terminer tous les autres cours avant de pouvoir le commencer.
Obtenir un Certificat
Lorsque vous aurez terminé tous les cours et le projet pratique, vous obtiendrez un Certificat que vous pourrez partager avec des employeurs éventuels et votre réseau professionnel.
Cette Spécialisation compte 6 cours
Modern Robotics, Course 1: Foundations of Robot Motion
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.
Modern Robotics, Course 2: Robot Kinematics
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 2 of the specialization, Robot Kinematics, you will learn to solve the forward kinematics (calculating the configuration of the "hand" of the robot based on the joint values) using the product-of-exponentials formula. Your efforts in Course 1 pay off handsomely, as forward kinematics is a breeze with the tools you've learned. This is followed by velocity kinematics and statics relating joint velocities and forces/torques to end-effector twists and wrenches, inverse kinematics (calculating joint values that achieve a desired "hand" configuration), and kinematics of robots with closed chains. 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.
Modern Robotics, Course 3: Robot Dynamics
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.
Modern Robotics, Course 4: Robot Motion Planning and Control
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 4 of the specialization, Robot Motion Planning and Control, you will learn key concepts of robot motion generation: planning a motion for a robot in the presence of obstacles, and real-time feedback control to track the planned motion. Chapter 10, Motion Planning, of the "Modern Robotics" textbook covers foundational material like C-space obstacles, graphs and trees, and graph search, as well as classical and modern motion planning techniques, such as grid-based motion planning, randomized sampling-based planners, and virtual potential fields. Chapter 11, Robot Control, covers motion control, force control, and hybrid motion-force control. 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.
Enseignant
Kevin Lynch
ProfessorÀ propos de Université Northwestern
Foire Aux Questions
Quelle est la politique de remboursement ?
Puis-je m'inscrire à un seul cours ?
Oui ! Pour commencer, cliquez sur la carte du cours qui vous intéresse et inscrivez-vous. Vous pouvez vous inscrire et terminer le cours pour obtenir un Certificat partageable, ou vous pouvez accéder au cours en auditeur libre afin d'en visualiser gratuitement le contenu. Si vous vous abonnez à un cours faisant partie d'une Spécialisation, vous êtes automatiquement abonné(e) à la Spécialisation complète. Visitez votre tableau de bord d'étudiant(e) pour suivre vos progrès.
Une aide financière est-elle possible ?
Puis-je suivre le cours gratuitement ?
Ce cours est-il vraiment accessible en ligne à 100 % ? Dois-je assister à certaines activités en personne ?
Ce cours est entièrement en ligne : vous n'avez donc pas besoin de vous présenter physiquement dans une salle de classe. Vous pouvez accéder à vos vidéos de cours, lectures et devoirs en tout temps et en tout lieu, par l'intermédiaire du Web ou de votre appareil mobile.
Quelle est la durée nécessaire pour terminer la Spécialisation ?
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.
Puis-je obtenir des crédits universitaires si je réussis la Spécialisation ?
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.
D'autres questions ? Visitez le Centre d'Aide pour les Etudiants.
