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所在平台: Coursera |
课程主页: https://www.coursera.org/learn/modernrobotics-course3
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课程名称：现代机器人学，课程3：机器人动力学 概述：您想了解机器人是如何工作的？您对机器人技术的职业生涯感兴趣吗？您愿意投入精力学习在机器人各个领域使用的基本数学建模技术吗？如果是的话，那么“现代机器人学：机械、规划和控制”专业化可能适合您。该专业化包含六个短课程，是希望在机器人领域工作或进行深造的学生的严谨准备，绝非简单的试学。 在本课程“机器人动力学”中，您将学习高效的数值算法，包括前向动力学（在给定机器人配置、速度以及关节力和扭矩的情况下计算机器人加速度）和逆向动力学（在给定机器人配置、速度和加速度的情况下计算所需的关节力和扭矩）。前向动力学有助于模拟，而逆向动力学则有助于机器人控制。您还将学习在动态约束条件下规划机器人轨迹。 本课程遵循教材《现代机器人学：机械、规划和控制》（Lynch 和 Park，剑桥大学出版社，2017）。您可以购买该书或使用免费预印本PDF。您将以您选择的编程语言（Python、Mathematica 和 MATLAB）构建机器人软件库，并使用免费的跨平台机器人模拟器V-REP，让您能够在自家舒适的环境中与先进的机器人进行互动，无需财务投资。 课程大纲： - 第8章：开放链的动力学（第1部分） - 描述：拉格朗日动力学的表述，向心力和科里奥利力，机器人质量矩阵，刚体动力学，以及开放链机器人的牛顿-欧拉逆向动力学。 - 第8章：开放链的动力学（第2部分） - 描述：开放链的前向动力学、任务空间动力学、约束动力学，以及因齿轮和摩擦产生的实际效应。 - 第9章：轨迹生成（第1部分） - 描述：点对点“直线”轨迹和通过途经点的多项式轨迹。 - 第9章：轨迹生成（第2部分） - 描述：沿着指定路径的时间最优运动，需考虑机器人动力学和执行器限制。
Name:Chapter 8: Dynamics of Open Chains (Part 1 of 2)
Description: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.
Name:Chapter 8: Dynamics of Open Chains (Part 2 of 2)
Description:Forward dynamics of an open chain, task-space dynamics, constrained dynamics, and practical effects due to gearing and friction.
Name:Chapter 9: Trajectory Generation (Part 1 of 2)
Description:Point-to-point "straight-line" trajectories and polynomial trajectories passing through via points.
Name:Chapter 9: Trajectory Generation (Part 2 of 2)
Description:Time-optimal motions along a specified path subject to robot dynamics and actuator limits.
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.
