|
所在平台: Coursera |
课程主页: https://www.coursera.org/learn/modernrobotics-course1
课程评论：没有评论
课程名称：现代机器人学，第1课：机器人运动基础 概述：您想了解机器人是如何运作的吗？您对机器人技术作为职业感兴趣吗？您愿意投入精力学习机器人各个子领域所用的基本数学模型技术吗？如果是的话，"现代机器人学：机械、规划与控制"的专业化课程可能适合您。该专业包含六个短课程，是为那些希望在机器人领域工作或进行深入研究的学生提供严肃的准备，并非简单的尝试课程。 在该专业的第一课《机器人运动基础》中，您将学习有关机器人配置的基本知识，包括串联机器人机制以及闭环机器人。课程内容包括配置空间（C-space）、自由度、C-space 拓扑、配置的隐式和显式表示，以及全动力学和非全动力学约束。您还将学习如何将空间速度和力表示为扭矩和力矩。这些内容是研究任何运动物体（例如机器人）的核心。 本课程将以《现代机器人学：机械、规划与控制》（Lynch和Park，剑桥大学出版社2017年）一书为依据，您可以购买该书或使用免费的预印本PDF。您将建立一个自选编程语言（如Python、Mathematica或MATLAB）的机器人软件库，并使用一款免费的跨平台机器人模拟器V-REP，使您能够在家中舒适地操作现代机器人，并且无需财务投资。 课程大纲： - 名称：现代机器人学导论 描述：专业导论、现代机器人代码库、CoppeliaSim机器人模拟器以及灯板视频生成工具的介绍。 - 名称：第二章：配置空间（第1部分，共2部分） 描述：刚体和机器人的配置空间及自由度介绍。 - 名称：第二章：配置空间（第2部分，共2部分） 描述：配置空间拓扑与表示；配置和速度约束；任务空间与工作空间。 - 名称：第三章：刚体运动（第1部分，共2部分） 描述：刚体运动、旋转矩阵、角速度和旋转的指数坐标。 - 名称：第三章：刚体运动（第2部分，共2部分） 描述：齐次变换矩阵、扭矩、螺旋、刚体运动的指数坐标和力矩。 通过此课程，您将建立对机器人运动学的扎实基础，为未来的机器人技术学习和职业生涯打下良好基础。
Name:Introduction to Modern Robotics
Description:Introduction to the specialization, the Modern Robotics code library, the CoppeliaSim robot simulator, and the lightboard video-generation tool.
Name:Chapter 2: Configuration Space (Part 1 of 2)
Description:Configuration space and degrees of freedom of rigid bodies and robots.
Name:Chapter 2: Configuration Space (Part 2 of 2)
Description:Configuration space topology and representation; configuration and velocity constraints; task space and workspace.
Name:Chapter 3: Rigid-Body Motions (Part 1 of 2)
Description:Rigid-body motions, rotation matrices, angular velocities, and exponential coordinates of rotation.
Name:Chapter 3: Rigid-Body Motions (Part 2 of 2)
Description:Homogeneous transformation matrices, twists, screws, exponential coordinates of rigid-body motion, and wrenches.
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.
