Monthly Subscription Starting at AED 99 + VAT
- Level Professional
- Duration 19 hours
- Course by Northwestern University
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Offered by
About
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.Modules
Chapter 4
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3
Videos
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3
Readings
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1
Discussion
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4
Assignment
4
Assignment
- 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
1
Discussions
- Screw Axis Identification
3
Videos
- 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
3
Readings
- Welcome to Course 2, Robot Kinematics
- How to Make This Course Successful
- Chapter 4, Forward Kinematics
Chapter 5
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6
Videos
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1
Readings
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1
Discussion
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7
Assignment
7
Assignment
- 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
1
Discussions
- Columns of the Jacobian Matrix
6
Videos
- 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)
1
Readings
- Chapter 5, Velocity Kinematics and Statics
Chapter 6
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3
Videos
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1
Readings
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1
Discussion
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1
PeerReview
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4
Assignment
4
Assignment
- 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
1
Peer Review
- Modern Robotics Course 2 (Robot Kinematics) Project
1
Discussions
- Practical Issues with Numerical Inverse Kinematics
3
Videos
- 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)
1
Readings
- Chapter 6, Inverse Kinematics
Chapter 7
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1
Videos
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1
Readings
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1
Discussion
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2
Assignment
2
Assignment
- Lecture Comprehension, Kinematics of Closed Chains (Chapter 7)
- Chapter 7, Kinematics of Closed Chains
1
Discussions
- Common Closed Chains
1
Videos
- Kinematics of Closed Chains (Chapter 7)
1
Readings
- Chapter 7, Kinematics of Closed Chains
Auto Summary
Unlock the intricacies of robotic systems with "Modern Robotics, Course 2: Robot Kinematics," an advanced course tailored for those passionate about robotics and willing to delve deep into its mathematical foundations. This course is part of the comprehensive "Modern Robotics: Mechanics, Planning, and Control" specialization, designed for serious learners aiming to excel in the robotics field or pursue advanced studies. Guided by expert instructors, you will master essential kinematic concepts, including forward kinematics with the product-of-exponentials formula, velocity kinematics, statics, inverse kinematics, and the kinematics of robots with closed chains. Building on the foundational knowledge from Course 1, you'll find forward kinematics particularly streamlined. The course leverages the acclaimed textbook "Modern Robotics: Mechanics, Planning, and Control" by Lynch and Park, with both purchase and free preprint options available. You'll also enhance your practical skills by creating a library of robotics software using Python, Mathematica, or MATLAB, and utilizing the V-REP robot simulator for hands-on experience with cutting-edge robots—all from the comfort of your home. With a professional-level curriculum spanning approximately 1140 minutes, this course is available through Coursera with flexible subscription options. Ideal for aspiring robotics professionals and advanced students, this course equips you with the expertise to navigate and innovate in the dynamic field of robotics.
Kevin Lynch