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所在平台: Udemy |
课程主页: https://www.udemy.com/course/robotics-dynamics-control-and-motion-planning-part-2/
课程评论：没有评论
课程名称：机器人学：动力学、控制与运动规划（第二部分） 概述：本课程《机器人学：动力学、控制与运动规划（第二部分）》深入探讨了设计和控制机器人操纵器所需的高级机器人概念。课程首先集中于逆运动学和工作空间分析，帮助学生计算关节参数，并理解各种机器人配置（如双连杆平面机器人、SCARA机器人和关节臂）的可达工作空间。随后，课程深入差动运动学，教授学生如何利用雅可比矩阵进行速度分析，并理解影响操纵器性能的奇异性。 在此基础上，动力学模块介绍了欧拉-拉格朗日和牛顿-欧拉公式，为学习者提供建模机器人系统中作用的力和力矩的工具。学生通过数值问题应用这些方法，加深实践理解。课程还涵盖了高级运动概念，包括螺旋理论和普吕克坐标的应用，增强复杂机器人运动的高效表示能力。 最后，学习者将研究运动规划和控制的概念，重点关注轨迹生成以及实施工作单元控制器，以确保机器人的平滑和精确操作，随后介绍诸如开环和闭环、PID、自适应类型等操纵器控制器。该综合性课程将理论知识与实用问题解决相结合，帮助学生和专业人员应对机器人系统设计、控制和自动化中的挑战。课程特别适合希望掌握高级机器人技术的工程学生、研究人员和从业人员。
This course, Robotics: Dynamics, Control and Motion planning (Part 2), provides an in-depth exploration of advanced robotics concepts essential for designing and controlling robotic manipulators. It begins with a focus on inverse kinematics and workspace analysis, enabling students to compute joint parameters and understand the reachable space of various robot configurations such as two-link planar, SCARA, and articulated arms. The course then advances into differential kinematics, teaching students how to use Jacobian matrices for velocity analysis and understand singularities that affect manipulator performance.Building on this foundation, the dynamics module introduces the Euler-Lagrange and Newton-Euler formulations, equipping learners with tools to model the forces and torques acting on robotic systems. Students apply these methods through numerical problems, reinforcing practical understanding. The course also covers advanced motion concepts, including screw theory and the use of Plücker coordinates, enhancing the ability to represent complex robot motions efficiently.Finally, learners study about concepts of motion planning and control , focusing on trajectory generation and implementing work cell controllers to ensure smooth and precise robot operation, followed by manipulator controllers such as open and closed loop, PID , adaptive type and others. This comprehensive course blends theoretical knowledge with practical problem-solving, preparing students and professionals for challenges in robotic system design, control, and automation. It is ideal for engineering students, researchers, and practitioners aiming to master advanced robotics techniques.
