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所在平台: Coursera |
课程主页: https://www.coursera.org/learn/modernrobotics-course5
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课程名称：现代机器人学，第5课程：机器人运动规划与轮式移动机器人 课程概述： 您是否想了解机器人是如何工作的？您是否对机器人技术作为职业感兴趣？您是否愿意付出努力学习在机器人所有子领域中使用的基础数学建模技术？如果是的话，那么“现代机器人学：力学、规划与控制”这一专业可能适合您。该专业包含六个短课程，是希望在机器人领域工作或进行深造的学生严肃备考的选择，而不仅仅是尝试。 在本专业的第5课程中，我们深入探讨机器人学中的高级主题。教材《现代机器人学》第12章“抓取与操作”涵盖了接触刚体之间的运动学和力的建模，并将这些建模应用于机器人抓取和其他操作任务的分析与规划。第13章“轮式移动机器人”则涵盖了全方向和非完整轮式移动机器人的建模、运动规划和反馈控制，最后还探讨了由轮式移动底座和机器人手臂组成的移动操纵器的控制。 本课程基于《现代机器人学：力学、规划与控制》一书（Lynch和Park，剑桥大学出版社2017年）。您可以购买此书或使用免费的预印本PDF。您将建立一个适用于您选择的编程语言（Python、Mathematica或MATLAB）的机器人软件库，并使用免费的跨平台机器人仿真器V-REP，这样您就可以在自己舒适的家中使用先进的机器人，而无需任何财务投入。 课程大纲： - 第12章：抓取与操作（第一部分） - 描述：接触的运动学、接触类型（滚动、滑动和断裂）、图形方法表示平面中的运动学约束以及形式闭合抓取（完全运动学约束）。 - 第12章：抓取与操作（第二部分） - 描述：库伦摩擦、摩擦锥、图形方法表示平面中的力和力矩、力闭合抓取，以及抓取以外的操作实例。 - 第13章：轮式移动机器人（第一部分） - 描述：全方向和非完整轮式移动机器人的运动学模型。 - 第13章：轮式移动机器人（第二部分） - 描述：非完整轮式移动机器人的可控性、运动规划与反馈控制；轮式移动机器人的里程计；以及移动操作。
Name:Chapter 12: Grasping and Manipulation (Part 1 of 2)
Description:Kinematics of contact, contact types (rolling, sliding, and breaking), graphical methods for representing kinematic constraints in the plane, and form-closure grasping (complete kinematic constraint).
Name:Chapter 12: Grasping and Manipulation (Part 2 of 2)
Description:Coulomb friction, friction cones, graphical methods for representing forces and torques in the plane, force closure grasping, and examples of manipulation other than grasping.
Name:Chapter 13: Wheeled Mobile Robots (Part 1 of 2)
Description:Kinematic models of omnidirectional and nonholonomic wheeled mobile robots.
Name:Chapter 13: Wheeled Mobile Robots (Part 2 of 2)
Description:Controllability, motion planning, and feedback control of nonholonomic wheeled mobile robots; odometry for wheeled mobile robots; and mobile manipulation.
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 5 of the specialization, Robot Motion Planning and Wheeled Mobile Robots, we delve into advanced topics in robotics. Chapter 12, Grasping and Manipulation, of the "Modern Robotics" textbook covers the modeling of kinematics and forces between rigid bodies in contact, and applies the modeling to analysis and planning of robot grasping and other manipulation tasks. Chapter 13, Wheeled Mobile Robots, covers modeling, motion planning, and feedback control of omnidirectional and nonholonomic wheeled mobile robots, and concludes by addressing control of mobile manipulators consisting of a wheeled mobile base and a robot arm. 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.
