Northwestern University - Modern Robotics, Course 3: Robot Dynamics
- Offered byCoursera
Modern Robotics, Course 3: Robot Dynamics at Coursera Overview
Duration | 22 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 3: Robot Dynamics at Coursera Highlights
- This Course Plus the Full Specialization.
- Shareable Certificates.
- Graded Programming Assignments.
Modern Robotics, Course 3: Robot Dynamics 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 3 of the specialization, Robot Dynamics, you will learn efficient numerical algorithms for forward dynamics (calculating the robot's acceleration given its configuration, velocity, and joint forces and torques) and inverse dynamics (calculating the required joint forces and torques given the robot's configuration, velocity, and acceleration). The former is useful for simulation, and the latter is useful for robot control. You will also learn how to plan robot trajectories subject to dynamic constraints.
- 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 3: Robot Dynamics at Coursera Curriculum
Chapter 8: Dynamics of Open Chains (Part 1 of 2)
Lagrangian Formulation of Dynamics (Chapter 8 through 8.1.2, Part 1 of 2)
Lagrangian Formulation of Dynamics (Chapter 8 through 8.1.2, Part 2 of 2)
Understanding the Mass Matrix (Chapter 8.1.3)
Dynamics of a Single Rigid Body (Chapter 8.2, Part 1 of 2)
Dynamics of a Single Rigid Body (Chapter 8.2, Part 2 of 2)
Newton-Euler Inverse Dynamics (Chapter 8.3)
Welcome to Course 3, Robot Dynamics
How to Make This Course Successful
Chapter 8 through 8.3
Lecture Comprehension, Lagrangian Formulation of Dynamics (Chapter 8 through 8.1.2, Part 1 of 2)
Lecture Comprehension, Lagrangian Formulation of Dynamics (Chapter 8 through 8.1.2, Part 2 of 2)
Lecture Comprehension, Understanding the Mass Matrix (Chapter 8.1.3)
Lecture Comprehension, Dynamics of a Single Rigid Body (Chapter 8.2, Part 1 of 2)
Lecture Comprehension, Dynamics of a Single Rigid Body (Chapter 8.2, Part 2 of 2)
Lecture Comprehension, Newton-Euler Inverse Dynamics (Chapter 8.3)
Chapter 8 through 8.3, Dynamics of Open Chains
Chapter 8: Dynamics of Open Chains (Part 2 of 2)
Forward Dynamics of Open Chains (Chapter 8.5)
Dynamics in the Task Space (Chapter 8.6)
Constrained Dynamics (Chapter 8.7)
Actuation, Gearing, and Friction (Chapter 8.9)
Chapters 8.5-8.7 and 8.9
Lecture Comprehension, Forward Dynamics of Open Chains (Chapter 8.5)
Lecture Comprehension, Dynamics in the Task Space (Chapter 8.6)
Lecture Comprehension, Constrained Dynamics (Chapter 8.7)
Lecture Comprehension, Actuation, Gearing, and Friction (Chapter 8.9)
Chapter 8.5-8.7 and 8.9, Dynamics of Open Chains
Chapter 9: Trajectory Generation (Part 1 of 2)
Point-to-Point Trajectories (Chapter 9 through 9.2, Part 1 of 2)
Point-to-Point Trajectories (Chapter 9 through 9.2, Part 2 of 2)
Polynomial Via Point Trajectories (Chapter 9.3)
Chapter 9 through 9.3
Lecture Comprehension, Point-to-Point Trajectories (Chapter 9 through 9.2, Part 1 of 2)
Lecture Comprehension, Point-to-Point Trajectories (Chapter 9 through 9.2, Part 2 of 2)
Lecture Comprehension, Polynomial Via Point Trajectories (Chapter 9.3)
Chapter 9 through 9.3, Trajectory Generation
Chapter 9: Trajectory Generation (Part 2 of 2)
Time-Optimal Time Scaling (Chapter 9.4, Part 1 of 3)
Time-Optimal Time Scaling (Chapter 9.4, Part 2 of 3)
Time-Optimal Time Scaling (Chapter 9.4, Part 3 of 3)
Chapter 9.4
Lecture Comprehension, Time-Optimal Time Scaling (Chapter 9.4, Part 1 of 3)
Lecture Comprehension, Time-Optimal Time Scaling (Chapter 9.4, Part 2 of 3)
Lecture Comprehension, Time-Optimal Time Scaling (Chapter 9.4, Part 3 of 3)
Chapter 9.4, Trajectory Generation
Modern Robotics, Course 3: Robot Dynamics at Coursera Admission Process
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