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所在平台: Udemy |
课程主页: https://www.udemy.com/course/getting-into-the-robotics-with-robotic-manipulators/
课程评论：没有评论
课程名称：机器人技术入门与机器人操控器 课程概述：如果你对机器人技术充满热情却不知道如何开始，不必再浪费时间问“从何入手？”或“应该读哪本书？”最好的入门方式是按照正确的顺序学习必要的基础概念，因为每个新概念都与之前的概念相关。该课程旨在按正确的顺序介绍机器人领域中最重要的基本概念，帮助你轻松理解每个概念背后的逻辑。课程设计注重理论的传授，同时避免过多的细节。尽管在机器人技术中无法避免理论和推导，但这些内容有助于你理解机器人概念的逻辑，从而应对各种现实中的机器人问题。与传统教材不同，本课程还包含编程和仿真环节，以理论知识为基础，补充实践学习。理论与实践的结合将帮助你识别问题并应用适当的解决方案。 在本课程中，你将学习到： - 3D刚体动力学，包括旋转的不同表示方法、旋转矩阵和齐次变换矩阵 - 使用Denavit-Hartenberg（DH）约定的正向运动学 - 速度运动学、几何和解析雅可比矩阵、机器人操控器奇异性和逆向运动学 - 使用欧拉-拉格朗日方法进行机器人操控器动态建模 - 机器人操控器的轨迹生成（多项式和梯形轨迹），以及轨迹的运动学和动力学缩放 - 应用基本（PD+重力补偿、逆动力学）和高级（鲁棒和自适应）控制技术，以实现期望的轨迹并减少跟踪误差 - 在机器人操控器与环境接触时，通过力控制（刚性/顺应性、阻抗控制）和混合力/位置控制技术来控制其行为 本课程基于你具有线性代数、控制理论和3D动力学的基础知识。但由于机器人技术的广泛性，无法在一门课程中包含所有内容。不过，不用担心。课程开始时会提供“资源”文件，帮助你识别信息缺口，并引导你找到正确的学习资源（免费课程和书籍），以便补充相关知识。 如果你真的希望以专业的态度开始机器人技术之旅，欢迎加入本课程，立即追随你的热情！
You are passionate about robotics and don't know where to start? Don't waste your time by asking questions like "Where to start in robotics?", "Which book to read for robotics?". The best way to start robotics is learning the necessary fundamental concepts with the correct sequence, as every next concept is related to the previous one. The purpose of this course is to introduce you to the most important basic concepts in robotics in a correct sequence, so you can easily relate and understand the logic behind each concept. This course has been designed to provide the theory without going into unnecessary details. It is impossible to avoid theory and derivations in robotics because they will help you to understand the logic behind robotic concepts, so you can deal with different kinds of real-world robotic problems. However, opposite to the books, this course also provides coding and simulation sessions in order to supplement theoretical knowledge with practical ones. Obtaining theoretical and practical skills together will help you to identify the problem and apply appropriate solutions to solve it.In this course you will learn:3D rigid body dynamics which includes different kind of representations of rotations, rotation and homogeneous transformation matricesForward kinematics using DH conventionVelocity kinematics, geometrical and analytical Jacobians, robot manipulator singularities and inverse kinematicsRobot manipulator dynamic modeling using Euler-Lagrange methodTrajectory generation for robotic manipulators (polynomial and trapezoidal trajectories) alongside kinematic and dynamic scaling of trajectoriesApplication of basic (PD+gravity compensation, Inverse Dynamics) and advanced (robust and adaptive) control techniques in order to execute desired trajectories with minimal tracking errorControlling the behavior of robotic manipulators while they are in contact with the environment using force (stiffness/compliance, impedance) and hybrid force/position control techniquesThis course has been designed based on the assumption of having basic knowledge in linear algebra, control theory and 3D dynamics. As robotics is such a huge concept, it is impossible to include all these things in one course. However, don't worry. At the beginning of the course, you will be provided with the 'Resources' file which will help you to determine which information you lack and will direct you to the correct sources (free courses and books) so, you can learn them.So, if you really want to get started with robotics professionally, then join the course and start to follow your passion right now!
