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所在平台: Udemy |
课程主页: https://www.udemy.com/course/robotics-fundamentals-and-kinematic-modeling-part-1/
课程评论：没有评论
课程名称: 机器人学：基础与运动学建模（第一部分） 课程概述：本课程旨在深入理解机器人操控器的基本原理和数学建模技术。课程首先介绍机器人学的核心概念，区分机器人与操控器，并探讨各种机器人配置，以突出机器人系统设计的多样性。内容涵盖操控器中使用的关节类型，区分主动关节和被动关节，并解释定义机器人能力、限制和任务适应性的关键术语。 学员将了解机器人运动控制所需的基本组件，如步进电机和伺服电机，以及相关的反馈装置。课程接着着重于末端执行器，讨论不同类型的抓手和机器人编程基础，为机器人操作和任务执行奠定基础。课程强调变换和方向的重要性，学生将学习矩阵变换在机器人操控器中的必要性，涵盖欧拉角及其角色、奇点，以及描述机器人运动和空间定位的齐次变换。 课程的一个重要亮点是对Denavit-Hartenberg（DH）参数的详细研究，涉及传统和改进的约定，主要用于正运动学，以表示机器人操控器的几何形状。学生将学习系统算法，分配坐标框架和计算DH参数，并通过SCARA、球形、关节、圆柱形和笛卡尔操控器的实际例子进行实践。这包括计算归位和变换序列，以实现对机器人链接和关节的准确空间表示。 通过将理论与实际应用相结合，本课程使学员掌握数学建模机器人操控器的基本技能，理解其运动学行为，并为深入学习机器人动力学、控制和运动规划等高级主题做好准备。非常适合工程学生、研究人员和希望在机器人领域建立坚实基础的专业人士。
This comprehensive course on Robotics: Fundamentals and Kinematic Modeling (Part 1) is designed to provide students with a thorough understanding of the basic principles and mathematical modeling techniques fundamental to robotic manipulators. The course begins by introducing the core concepts of robotics, distinguishing between robots and manipulators, and exploring various robot configurations to highlight the diversity in robotic system design. It covers the types of joints used in manipulators, differentiating between active and passive joints, and explains key terminologies that define a robot's capabilities, limitations, and task suitability. Students also learn about essential components such as stepper and servo motors, along with their feedback devices, critical for robot motion control.The curriculum then shifts focus to end effectors, discussing different types of grippers and the basics of robot programming, which lay the groundwork for robot operation and task execution. A significant emphasis is placed on transformation and orientation, where students study the need for matrix transformations in robotic manipulators. Topics include Euler angles, their role and singularities, and homogeneous transformations vital for describing robot motion and positioning in space.A major highlight is the detailed study of Denavit-Hartenberg (DH) parameters, covering both classical and modified conventions that are primarily used in forward kinematics to represent the geometry of a robot manipulator. Students learn systematic algorithms for assigning coordinate frames and computing DH parameters, with hands-on examples involving SCARA, spherical, articulated, cylindrical, and Cartesian manipulators. This includes calculating home positions and transformation sequences that enable accurate spatial representation of robotic links and joints.By integrating theory with practical applications, this course equips learners with the essential skills to model robotic manipulators mathematically, understand their kinematic behavior, and prepare for more advanced topics such as robot dynamics, control, and motion planning. It is ideal for engineering students, researchers, and professionals aiming to build a strong foundation in robotics.
