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Modern Robotics, Course 3: Robot Dynamics
  • Level Professional
  • Duration 22 hours
  • Course by Northwestern University
  • 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 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.

Modules

Chapter 8 through 8.3

    • 6 Videos
    • 3 Readings
    • 1 Discussion
    • 7 Assignment
Show info about module content

7 Assignment

  • 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

1 Discussions

  • Eigenvectors and Eigenvalues of the Apparent End-Effector Mass Matrix

6 Videos

  • 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)

3 Readings

  • Welcome to Course 3, Robot Dynamics
  • How to Make This Course Successful
  • Chapter 8 through 8.3

Chapters 8.5-8.7 and 8.9

    • 4 Videos
    • 1 Readings
    • 1 Discussion
    • 1 PeerReview
    • 5 Assignment
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5 Assignment

  • 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

1 Peer Review

  • Modern Robotics Course 3 (Robot Dynamics) Project

1 Discussions

  • Calculating the Forward Dynamics

4 Videos

  • 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)

1 Readings

  • Chapters 8.5-8.7 and 8.9

Chapter 9 through 9.3

    • 3 Videos
    • 1 Readings
    • 1 Discussion
    • 4 Assignment
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4 Assignment

  • 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

1 Discussions

  • Constant Screw Path vs. Decoupled Path

3 Videos

  • 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)

1 Readings

  • Chapter 9 through 9.3

Chapter 9.4

    • 3 Videos
    • 1 Readings
    • 1 Discussion
    • 4 Assignment
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4 Assignment

  • 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

1 Discussions

  • Questions?

3 Videos

  • 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)

1 Readings

  • Chapter 9.4

Auto Summary

Embark on a comprehensive journey into robotics with "Modern Robotics: Robot Dynamics." This professional-level course, instructed by experts via Coursera, delves into numerical algorithms for robot dynamics, essential for simulation and control. Spanning 1320 minutes, it offers hands-on experience with Python, Mathematica, MATLAB, and the V-REP simulator. Ideal for aspiring robotics professionals and advanced students, the course is part of a six-course specialization and follows the acclaimed textbook by Lynch and Park. Subscription options include Starter and Professional tiers.

Kevin Lynch
Instructor

Kevin Lynch