Northwestern University - Modern Robotics, Course 2: Robot Kinematics
- Offered byCoursera
Modern Robotics, Course 2: Robot Kinematics at Coursera Overview
Duration | 19 hours |
Start from | Start Now |
Total fee | Free |
Mode of learning | Online |
Difficulty level | Intermediate |
Official Website | Explore Free Course  |
Credential | Certificate |
Modern Robotics, Course 2: Robot Kinematics at Coursera Highlights
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Modern Robotics, Course 2: Robot Kinematics at Coursera Course details
- 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 2 of the specialization, Robot Kinematics, you will learn to solve the forward kinematics (calculating the configuration of the "hand" of the robot based on the joint values) using the product-of-exponentials formula. Your efforts in Course 1 pay off handsomely, as forward kinematics is a breeze with the tools you've learned. This is followed by velocity kinematics and statics relating joint velocities and forces/torques to end-effector twists and wrenches, inverse kinematics (calculating joint values that achieve a desired "hand" configuration), and kinematics of robots with closed chains.
- 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.
Modern Robotics, Course 2: Robot Kinematics at Coursera Curriculum
Chapter 4: Forward Kinematics
Product of Exponentials Formula in the Space Frame (Chapter 4 through 4.1.2)
Product of Exponentials Formula in the End-Effector Frame (Chapter 4.1.3)
Forward Kinematics Example
Welcome to Course 2, Robot Kinematics
How to Make This Course Successful
Chapter 4, Forward Kinematics
Lecture Comprehension, Product of Exponentials Formula in the Space Frame (Chapter 4 through 4.1.2)
Lecture Comprehension, Product of Exponentials Formula in the End-Effector Frame (Chapter 4.1.3)
Lecture Comprehension, Forward Kinematics Example
Chapter 4, Forward Kinematics
Chapter 5: Velocity Kinematics and Statics
Velocity Kinematics and Statics (Chapter 5 Introduction)
Space Jacobian (Chapter 5.1 through 5.1.1)
Body Jacobian (Chapter 5.1.2 through 5.1.4)
Statics of Open Chains (Chapter 5.2)
Singularities (Chapter 5.3)
Manipulability (Chapter 5.4)
Chapter 5, Velocity Kinematics and Statics
Lecture Comprehension, Velocity Kinematics and Statics (Chapter 5 Introduction)
Lecture Comprehension, Space Jacobian (Chapter 5.1 through 5.1.1)
Lecture Comprehension, Body Jacobian (Chapter 5.1.2 through 5.1.4)
Lecture Comprehension, Statics of Open Chains (Chapter 5.2)
Lecture Comprehension, Singularities (Chapter 5.3)
Lecture Comprehension, Manipulability (Chapter 5.4)
Chapter 5, Velocity Kinematics and Statics
Chapter 6: Inverse Kinematics
Inverse Kinematics of Open Chains (Chapter 6 Introduction)
Numerical Inverse Kinematics (Chapter 6.2, Part 1 of 2)
Numerical Inverse Kinematics (Chapter 6.2, Part 2 of 2)
Chapter 6, Inverse Kinematics
Lecture Comprehension, Inverse Kinematics of Open Chains (Chapter 6 Introduction)
Lecture Comprehension, Numerical Inverse Kinematics (Chapter 6.2, Part 1 of 2)
Lecture Comprehension, Numerical Inverse Kinematics (Chapter 6.2, Part 2 of 2)
Chapter 6, Inverse Kinematics
Chapter 7: Kinematics of Closed Chains
Kinematics of Closed Chains (Chapter 7)
Chapter 7, Kinematics of Closed Chains
Lecture Comprehension, Kinematics of Closed Chains (Chapter 7)
Chapter 7, Kinematics of Closed Chains
Modern Robotics, Course 2: Robot Kinematics at Coursera Admission Process
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