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1

## Chapter 8: Dynamics of Open Chains (Part 1 of 2)

6 个视频 （总计 34 分钟）, 3 个阅读材料, 7 个测验
6 个视频
Lagrangian Formulation of Dynamics (Chapter 8 through 8.1.2, Part 2 of 2)5分钟
Understanding the Mass Matrix (Chapter 8.1.3)5分钟
Dynamics of a Single Rigid Body (Chapter 8.2, Part 1 of 2)6分钟
Dynamics of a Single Rigid Body (Chapter 8.2, Part 2 of 2)4分钟
Newton-Euler Inverse Dynamics (Chapter 8.3)5分钟
3 个阅读材料
Welcome to Course 3, Robot Dynamics10分钟
How to Make This Course Successful5分钟
Chapter 8 through 8.31 小时 30 分
7 个练习
Lecture Comprehension, Lagrangian Formulation of Dynamics (Chapter 8 through 8.1.2, Part 1 of 2)6分钟
Lecture Comprehension, Lagrangian Formulation of Dynamics (Chapter 8 through 8.1.2, Part 2 of 2)6分钟
Lecture Comprehension, Understanding the Mass Matrix (Chapter 8.1.3)6分钟
Lecture Comprehension, Dynamics of a Single Rigid Body (Chapter 8.2, Part 1 of 2)8分钟
Lecture Comprehension, Dynamics of a Single Rigid Body (Chapter 8.2, Part 2 of 2)8分钟
Lecture Comprehension, Newton-Euler Inverse Dynamics (Chapter 8.3)10分钟
Chapter 8 through 8.3, Dynamics of Open Chains1 小时 30 分
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## Chapter 8: Dynamics of Open Chains (Part 2 of 2)

4 个视频 （总计 16 分钟）, 1 个阅读材料, 6 个测验
4 个视频
Dynamics in the Task Space (Chapter 8.6)1分钟
Constrained Dynamics (Chapter 8.7)4分钟
Actuation, Gearing, and Friction (Chapter 8.9)6分钟
1 个阅读材料
Chapters 8.5-8.7 and 8.91小时
5 个练习
Lecture Comprehension, Forward Dynamics of Open Chains (Chapter 8.5)4分钟
Lecture Comprehension, Dynamics in the Task Space (Chapter 8.6)2分钟
Lecture Comprehension, Constrained Dynamics (Chapter 8.7)4分钟
Lecture Comprehension, Actuation, Gearing, and Friction (Chapter 8.9)4分钟
Chapter 8.5-8.7 and 8.9, Dynamics of Open Chains40分钟
3

## Chapter 9: Trajectory Generation (Part 1 of 2)

3 个视频 （总计 12 分钟）, 1 个阅读材料, 4 个测验
3 个视频
Point-to-Point Trajectories (Chapter 9 through 9.2, Part 2 of 2)3分钟
Polynomial Via Point Trajectories (Chapter 9.3)2分钟
1 个阅读材料
Chapter 9 through 9.31小时
4 个练习
Lecture Comprehension, Point-to-Point Trajectories (Chapter 9 through 9.2, Part 1 of 2)8分钟
Lecture Comprehension, Point-to-Point Trajectories (Chapter 9 through 9.2, Part 2 of 2)2分钟
Lecture Comprehension, Polynomial Via Point Trajectories (Chapter 9.3)6分钟
Chapter 9 through 9.3, Trajectory Generation1 小时 45 分
4

## Chapter 9: Trajectory Generation (Part 2 of 2)

3 个视频 （总计 17 分钟）, 1 个阅读材料, 4 个测验
3 个视频
Time-Optimal Time Scaling (Chapter 9.4, Part 2 of 3)6分钟
Time-Optimal Time Scaling (Chapter 9.4, Part 3 of 3)4分钟
1 个阅读材料
Chapter 9.41小时
4 个练习
Lecture Comprehension, Time-Optimal Time Scaling (Chapter 9.4, Part 1 of 3)6分钟
Lecture Comprehension, Time-Optimal Time Scaling (Chapter 9.4, Part 2 of 3)10分钟
Lecture Comprehension, Time-Optimal Time Scaling (Chapter 9.4, Part 3 of 3)6分钟
Chapter 9.4, Trajectory Generation1小时

## 关于 Modern Robotics: Mechanics, Planning, and Control 专项课程

This Specialization provides a rigorous treatment of spatial motion and the dynamics of rigid bodies, employing representations from modern screw theory and the product of exponentials formula. Students with a freshman-level engineering background will quickly learn to apply these tools to analysis, planning, and control of robot motion. Students' understanding of the mathematics of robotics will be solidified by writing robotics software. Students will test their software on a free state-of-the-art cross-platform robot simulator, allowing each student to have an authentic robot programming experience with industrial robot manipulators and mobile robots without purchasing expensive robot hardware. It is highly recommended that Courses 1-6 of the Specialization are taken in order, since the material builds on itself....

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