Este curso faz parte do Programa de cursos integrados Modern Robotics: Mechanics, Planning, and Control
Modern Robotics, Course 3: Robot Dynamics
oferecido por
Programa de cursos integrados Modern Robotics: Mechanics, Planning, and ControlNorthwestern University
Informações sobre o curso
4.8
10 classificações
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.
Programa - O que você aprenderá com este curso
Week
1Chapter 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.
6 vídeos (Total de 34 min), 2 leituras, 7 testes
6 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
2 leituras
Welcome to Course 3, Robot Dynamics10min
Chapter 8 through 8.330min
7 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
2Chapter 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.
4 vídeos (Total de 16 min), 1 leitura, 6 testes
4 videos
Dynamics in the Task Space (Chapter 8.6)1min
Constrained Dynamics (Chapter 8.7)4min
Actuation, Gearing, and Friction (Chapter 8.9)6min
1 leituras
Chapters 8.5-8.7 and 8.9min
5 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
3Chapter 9: Trajectory Generation (Part 1 of 2)
Point-to-point "straight-line" trajectories and polynomial trajectories passing through via points.
3 vídeos (Total de 12 min), 1 leitura, 4 testes
3 videos
Point-to-Point Trajectories (Chapter 9 through 9.2, Part 2 of 2)3min
Polynomial Via Point Trajectories (Chapter 9.3)2min
1 leituras
Chapter 9 through 9.3min
4 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
4Chapter 9: Trajectory Generation (Part 2 of 2)
Time-optimal motions along a specified path subject to robot dynamics and actuator limits.
3 vídeos (Total de 17 min), 1 leitura, 4 testes
3 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
1 leituras
Chapter 9.4min
4 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 SM•Oct 14th 2018
Concepts and Explanation is great if you are trying to go into robotics career
Instrutores
Kevin Lynch
ProfessorMechanical 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.
Perguntas Frequentes – FAQ
When will I have access to the lectures and assignments?
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.
What will I get if I subscribe to this Specialization?
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.
What is the refund policy?
Is financial aid available?
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