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所在平台: Coursera |
课程主页: https://www.coursera.org/learn/modernrobotics-course2
课程评论：没有评论
课程名称：现代机器人学，第2课程：机器人运动学 概述：您是否想了解机器人是如何工作的？您是否对机器人事业感兴趣？您是否愿意投入精力学习在机器人各个子领域中使用的基本数学建模技术？如果是的话，“现代机器人学：机械、规划与控制”专业可能适合您。该专业包含六个短课程，是希望在机器人领域工作或进行高级研究的学生的严肃准备，而不仅是一个简单的试听课程。 在本专业的第2课程“机器人运动学”中，您将学习如何使用乘积指数公式求解正运动学（根据关节值计算机器人的“手”配置）。您在第1课程中的努力将取得丰硕回报，正运动学的计算将变得相对简单。接下来，您将学习与关节速度和力/扭矩相关的速度运动学和静态，求解逆运动学（计算实现所需“手”配置的关节值）以及闭链机器人的运动学。 本课程基于教材《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）。您可以购买该书或使用免费的预印本PDF。您将建立一个您选择的编程语言（包括Python、Mathematica和MATLAB）中的机器人软件库，并使用免费的跨平台机器人模拟器V-REP，这使您可以在家中舒适地与最先进的机器人进行工作，且无需任何经济投入。 课程大纲： - 第4章：正运动学 描述：空间框架和末端执行器框架中的正运动学乘积指数公式。 - 第5章：速度运动学和静态 描述：使用空间雅可比和身体雅可比的速度运动学，开放链的静态、奇异性和可操控性。 - 第6章：逆运动学 描述：解析和数值逆运动学。 - 第7章：闭链的运动学 描述：闭链的正运动学、逆运动学、速度运动学和静态。
Name:Chapter 4: Forward Kinematics
Description:Product of exponentials formula for forward kinematics in the space frame and the end-effector frame.
Name:Chapter 5: Velocity Kinematics and Statics
Description:Velocity kinematics using the space Jacobian and body Jacobian, statics of open chains, singularities, and manipulability.
Name:Chapter 6: Inverse Kinematics
Description:Analytical and numerical inverse kinematics.
Name:Chapter 7: Kinematics of Closed Chains
Description:Forward kinematics, inverse kinematics, velocity kinematics, and statics of closed chains.
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.
