Informações sobre o curso
4.8
10 classificações
2 avaliações
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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cursos 100% online

Comece imediatamente e aprenda em seu próprio cronograma.
Calendar

Prazos flexíveis

Redefinir os prazos de acordo com sua programação.
Intermediate Level

Nível intermediário

Clock

Approx. 13 hours to complete

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

English

Legendas: English...
Globe

cursos 100% online

Comece imediatamente e aprenda em seu próprio cronograma.
Calendar

Prazos flexíveis

Redefinir os prazos de acordo com sua programação.
Intermediate Level

Nível intermediário

Clock

Approx. 13 hours to complete

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

English

Legendas: English...

Programa - O que você aprenderá com este curso

Week
1
Clock
5 horas para concluir

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 vídeos (Total de 34 min), 2 leituras, 7 testes
Video6 videos
Lagrangian Formulation of Dynamics (Chapter 8 through 8.1.2, Part 2 of 2)5min
Understanding the Mass Matrix (Chapter 8.1.3)5min
Dynamics of a Single Rigid Body (Chapter 8.2, Part 1 of 2)6min
Dynamics of a Single Rigid Body (Chapter 8.2, Part 2 of 2)4min
Newton-Euler Inverse Dynamics (Chapter 8.3)5min
Reading2 leituras
Welcome to Course 3, Robot Dynamics10min
Chapter 8 through 8.330min
Quiz7 exercícios práticos
Lecture Comprehension, Lagrangian Formulation of Dynamics (Chapter 8 through 8.1.2, Part 1 of 2)6min
Lecture Comprehension, Lagrangian Formulation of Dynamics (Chapter 8 through 8.1.2, Part 2 of 2)6min
Lecture Comprehension, Understanding the Mass Matrix (Chapter 8.1.3)6min
Lecture Comprehension, Dynamics of a Single Rigid Body (Chapter 8.2, Part 1 of 2)8min
Lecture Comprehension, Dynamics of a Single Rigid Body (Chapter 8.2, Part 2 of 2)8min
Lecture Comprehension, Newton-Euler Inverse Dynamics (Chapter 8.3)10min
Chapter 8 through 8.3, Dynamics of Open Chains30min
Week
2
Clock
5 horas para concluir

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 vídeos (Total de 16 min), 1 leitura, 6 testes
Video4 videos
Dynamics in the Task Space (Chapter 8.6)1min
Constrained Dynamics (Chapter 8.7)4min
Actuation, Gearing, and Friction (Chapter 8.9)6min
Reading1 leituras
Chapters 8.5-8.7 and 8.9min
Quiz5 exercícios práticos
Lecture Comprehension, Forward Dynamics of Open Chains (Chapter 8.5)4min
Lecture Comprehension, Dynamics in the Task Space (Chapter 8.6)2min
Lecture Comprehension, Constrained Dynamics (Chapter 8.7)4min
Lecture Comprehension, Actuation, Gearing, and Friction (Chapter 8.9)4min
Chapter 8.5-8.7 and 8.9, Dynamics of Open Chains40min
Week
3
Clock
3 horas para concluir

Chapter 9: Trajectory Generation (Part 1 of 2)

Point-to-point "straight-line" trajectories and polynomial trajectories passing through via points....
Reading
3 vídeos (Total de 12 min), 1 leitura, 4 testes
Video3 videos
Point-to-Point Trajectories (Chapter 9 through 9.2, Part 2 of 2)3min
Polynomial Via Point Trajectories (Chapter 9.3)2min
Reading1 leituras
Chapter 9 through 9.3min
Quiz4 exercícios práticos
Lecture Comprehension, Point-to-Point Trajectories (Chapter 9 through 9.2, Part 1 of 2)8min
Lecture Comprehension, Point-to-Point Trajectories (Chapter 9 through 9.2, Part 2 of 2)2min
Lecture Comprehension, Polynomial Via Point Trajectories (Chapter 9.3)6min
Chapter 9 through 9.3, Trajectory Generation45min
Week
4
Clock
3 horas para concluir

Chapter 9: Trajectory Generation (Part 2 of 2)

Time-optimal motions along a specified path subject to robot dynamics and actuator limits....
Reading
3 vídeos (Total de 17 min), 1 leitura, 4 testes
Video3 videos
Time-Optimal Time Scaling (Chapter 9.4, Part 2 of 3)6min
Time-Optimal Time Scaling (Chapter 9.4, Part 3 of 3)4min
Reading1 leituras
Chapter 9.4min
Quiz4 exercícios práticos
Lecture Comprehension, Time-Optimal Time Scaling (Chapter 9.4, Part 1 of 3)6min
Lecture Comprehension, Time-Optimal Time Scaling (Chapter 9.4, Part 2 of 3)10min
Lecture Comprehension, Time-Optimal Time Scaling (Chapter 9.4, Part 3 of 3)6min
Chapter 9.4, Trajectory Generationmin
4.8

Melhores avaliações

por SMOct 14th 2018

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

Instrutores

Kevin Lynch

Professor
Mechanical Engineering

Sobre 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. ...

Sobre o Programa de cursos integrados 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

Perguntas Frequentes – FAQ

  • 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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