Acerca de este Curso
4.8
19 calificaciones
4 revisiones
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....
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Cursos 100 % en línea

Comienza de inmediato y aprende a tu propio ritmo.
Calendar

Fechas límite flexibles

Restablece las fechas límite en función de tus horarios.
Intermediate Level

Nivel intermedio

Clock

Approx. 14 hours to complete

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

Subtítulos: English...
Globe

Cursos 100 % en línea

Comienza de inmediato y aprende a tu propio ritmo.
Calendar

Fechas límite flexibles

Restablece las fechas límite en función de tus horarios.
Intermediate Level

Nivel intermedio

Clock

Approx. 14 hours to complete

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

English

Subtítulos: English...

Programa - Qué aprenderás en este curso

Week
1
Clock
3 horas para completar

Chapter 4: Forward Kinematics

Product of exponentials formula for forward kinematics in the space frame and the end-effector frame....
Reading
3 videos (Total: 15 min), 2 readings, 4 quizzes
Video3 videos
Product of Exponentials Formula in the End-Effector Frame (Chapter 4.1.3)4m
Forward Kinematics Example3m
Reading2 lecturas
Welcome to Course 2, Robot Kinematics10m
Chapter 4, Forward Kinematicsm
Quiz4 ejercicios de práctica
Lecture Comprehension, Product of Exponentials Formula in the Space Frame (Chapter 4 through 4.1.2)6m
Lecture Comprehension, Product of Exponentials Formula in the End-Effector Frame (Chapter 4.1.3)4m
Lecture Comprehension, Forward Kinematics Example2m
Chapter 4, Forward Kinematics20m
Week
2
Clock
5 horas para completar

Chapter 5: Velocity Kinematics and Statics

Velocity kinematics using the space Jacobian and body Jacobian, statics of open chains, singularities, and manipulability....
Reading
6 videos (Total: 34 min), 1 reading, 7 quizzes
Video6 videos
Space Jacobian (Chapter 5.1 through 5.1.1)5m
Body Jacobian (Chapter 5.1.2 through 5.1.4)4m
Statics of Open Chains (Chapter 5.2)2m
Singularities (Chapter 5.3)6m
Manipulability (Chapter 5.4)5m
Reading1 lectura
Chapter 5, Velocity Kinematics and Staticsm
Quiz7 ejercicios de práctica
Lecture Comprehension, Velocity Kinematics and Statics (Chapter 5 Introduction)14m
Lecture Comprehension, Space Jacobian (Chapter 5.1 through 5.1.1)12m
Lecture Comprehension, Body Jacobian (Chapter 5.1.2 through 5.1.4)4m
Lecture Comprehension, Statics of Open Chains (Chapter 5.2)2m
Lecture Comprehension, Singularities (Chapter 5.3)6m
Lecture Comprehension, Manipulability (Chapter 5.4)6m
Chapter 5, Velocity Kinematics and Statics30m
Week
3
Clock
5 horas para completar

Chapter 6: Inverse Kinematics

Analytical and numerical inverse kinematics....
Reading
3 videos (Total: 14 min), 1 reading, 5 quizzes
Video3 videos
Numerical Inverse Kinematics (Chapter 6.2, Part 1 of 2)5m
Numerical Inverse Kinematics (Chapter 6.2, Part 2 of 2)4m
Reading1 lectura
Chapter 6, Inverse Kinematics30m
Quiz4 ejercicios de práctica
Lecture Comprehension, Inverse Kinematics of Open Chains (Chapter 6 Introduction)4m
Lecture Comprehension, Numerical Inverse Kinematics (Chapter 6.2, Part 1 of 2)8m
Lecture Comprehension, Numerical Inverse Kinematics (Chapter 6.2, Part 2 of 2)2m
Chapter 6, Inverse Kinematics30m
Week
4
Clock
2 horas para completar

Chapter 7: Kinematics of Closed Chains

Forward kinematics, inverse kinematics, velocity kinematics, and statics of closed chains....
Reading
1 video (Total: 9 min), 1 reading, 2 quizzes
Reading1 lectura
Chapter 7, Kinematics of Closed Chainsm
Quiz2 ejercicios de práctica
Lecture Comprehension, Kinematics of Closed Chains (Chapter 7)2m
Chapter 7, Kinematics of Closed Chains20m
4.8

Principales revisiones

por SSOct 1st 2018

It is a great start for learning kinematics of open chain robots, i wish i could learn ore about the closed chain robots too, but they have given the boost, now its your turn to learn more and more

Instructor

Kevin Lynch

Professor
Mechanical Engineering

Acerca 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. ...

Acerca del programa especializado 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

Preguntas Frecuentes

  • Una vez que te inscribes para obtener un Certificado, tendrás acceso a todos los videos, cuestionarios y tareas de programación (si corresponde). Las tareas calificadas por compañeros solo pueden enviarse y revisarse una vez que haya comenzado tu sesión. Si eliges explorar el curso sin comprarlo, es posible que no puedas acceder a determinadas tareas.

  • Cuando te inscribes en un curso, obtienes acceso a todos los cursos que forman parte del Programa especializado y te darán un Certificado cuando completes el trabajo. Se añadirá tu Certificado electrónico a la página Logros. Desde allí, puedes imprimir tu Certificado o añadirlo a tu perfil de LinkedIn. Si solo quieres leer y visualizar el contenido del curso, puedes auditar el curso sin costo.

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