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所在平台: Coursera |
课程主页: https://www.coursera.org/learn/modernrobotics-course4
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课程名称：现代机器人学，第4课：机器人运动规划与控制 课程概述：你是否想了解机器人如何工作？你是否对机器人技术作为职业感兴趣？你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，那么“现代机器人学：机械、规划与控制”专业化路径可能适合你。该专业化包含六门短课程，是希望在机器人领域工作或进行深入研究的学生的严谨准备。它不是一个简单的体验课程。 在专业化的第4课《机器人运动规划与控制》中，你将学习机器人运动生成的关键概念：在障碍物存在的情况下为机器人规划运动，以及实时反馈控制以跟踪规划的运动。该课程基于《现代机器人学》教科书的第10章（运动规划），涵盖了C空间障碍、图和树以及图搜索的基础知识，以及经典和现代运动规划技术，如基于网格的运动规划、随机采样规划者和虚拟势场。第11章（机器人控制）则涉及运动控制、力控制和混合运动-力控制。 本课程将遵循《现代机器人学：机械、规划与控制》（林奇和帕克，剑桥大学出版社2017年）这本教材。你可以选择购买该书或使用免费的预印本PDF。你将根据选择的编程语言（如Python、Mathematica或MATLAB）构建一套机器人软件库，并利用免费的跨平台机器人模拟器V-REP，允许你在家中舒适地与最先进的机器人进行互动，而无需任何经济投资。 课程大纲： - 第10章：运动规划（第1部分）：C空间障碍、图和树以及A*图搜索。 - 第10章：运动规划（第2部分）：在离散化C空间网格上的运动规划、基于随机采样的规划者、虚拟势场和非线性优化。 - 第11章：机器人控制（第1部分）：一阶和二阶线性误差动态、反馈控制系统的稳定性，以及当控制器的输出命令关节速度时的机器人运动控制。 - 第11章：机器人控制（第2部分）：当控制器的输出命令关节扭矩时的运动控制、力控制和混合运动-力控制。
Name:Chapter 10: Motion Planning (Part 1 of 2)
Description:C-space obstacles, graphs and trees, and A* graph search.
Name:Chapter 10: Motion Planning (Part 2 of 2)
Description:Motion planning on a discretized C-space grid, randomized sampling-based planners, virtual potential fields, and nonlinear optimization.
Name:Chapter 11: Robot Control (Part 1 of 2)
Description:First- and second-order linear error dynamics, stability of a feedback control system, and motion control of robots when the output of the controller commands joint velocities.
Name:Chapter 11: Robot Control (Part 2 of 2)
Description:Motion control of robots when the output of the controller commands joint torques, force control, and hybrid motion-force control.
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 4 of the specialization, Robot Motion Planning and Control, you will learn key concepts of robot motion generation: planning a motion for a robot in the presence of obstacles, and real-time feedback control to track the planned motion. Chapter 10, Motion Planning, of the "Modern Robotics" textbook covers foundational material like C-space obstacles, graphs and trees, and graph search, as well as classical and modern motion planning techniques, such as grid-based motion planning, randomized sampling-based planners, and virtual potential fields. Chapter 11, Robot Control, covers motion control, force control, and hybrid motion-force control. 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.
