课程信息
4.7
6 个评分
100% 在线

100% 在线

立即开始,按照自己的计划学习。
可灵活调整截止日期

可灵活调整截止日期

根据您的日程表重置截止日期。
中级

中级

完成时间(小时)

完成时间大约为15 小时

建议:This course requires 4 weeks of study of approximately 4-7 hours/week....
可选语言

英语(English)

字幕:英语(English)
100% 在线

100% 在线

立即开始,按照自己的计划学习。
可灵活调整截止日期

可灵活调整截止日期

根据您的日程表重置截止日期。
中级

中级

完成时间(小时)

完成时间大约为15 小时

建议:This course requires 4 weeks of study of approximately 4-7 hours/week....
可选语言

英语(English)

字幕:英语(English)

教学大纲 - 您将从这门课程中学到什么

1
完成时间(小时)
完成时间为 7 小时

Chapter 10: Motion Planning (Part 1 of 2)

C-space obstacles, graphs and trees, and A* graph search....
Reading
5 个视频 (总计 24 分钟), 2 个阅读材料, 7 个测验
Video5 个视频
C-Space Obstacles (Chapter 10.2.1)4分钟
Graphs and Trees (Chapter 10.2.3)2分钟
Graph Search (Chapter 10.2.4)9分钟
Complete Path Planners (Chapter 10.3)3分钟
Reading2 个阅读材料
Welcome to Course 4, Robot Motion Planning and Control10分钟
Chapter 10 through 10.330分钟
Quiz6 个练习
Lecture Comprehension, Overview of Motion Planning (Chapter 10.1)4分钟
Lecture Comprehension, C-Space Obstacles (Chapter 10.2.1)2分钟
Lecture Comprehension, Graphs and Trees (Chapter 10.2.3)2分钟
Lecture Comprehension, Graph Search (Chapter 10.2.4)6分钟
Lecture Comprehension, Complete Path Planners (Chapter 10.3)2分钟
Chapter 10 through 10.3, Motion Planning15分钟
2
完成时间(小时)
完成时间为 7 小时

Chapter 10: Motion Planning (Part 2 of 2)

Motion planning on a discretized C-space grid, randomized sampling-based planners, virtual potential fields, and nonlinear optimization....
Reading
5 个视频 (总计 25 分钟), 1 个阅读材料, 7 个测验
Video5 个视频
Sampling Methods for Motion Planning (Chapter 10.5, Part 1 of 2)3分钟
Sampling Methods for Motion Planning (Chapter 10.5, Part 2 of 2)7分钟
Virtual Potential Fields (Chapter 10.6)5分钟
Nonlinear Optimization (Chapter 10.7)5分钟
Reading1 个阅读材料
Chapter 10.4 through 10.7分钟
Quiz6 个练习
Lecture Comprehension, Grid Methods for Motion Planning (Chapter 10.4)6分钟
Lecture Comprehension, Sampling Methods for Motion Planning (Chapter 10.5, Part 1 of 2)2分钟
Lecture Comprehension, Sampling Methods for Motion Planning (Chapter 10.5, Part 2 of 2)4分钟
Lecture Comprehension, Virtual Potential Fields (Chapter 10.6)4分钟
Lecture Comprehension, Nonlinear Optimization (Chapter 10.7)4分钟
Chapter 10.4 through 10.7, Motion Planning8分钟
3
完成时间(小时)
完成时间为 4 小时

Chapter 11: Robot Control (Part 1 of 2)

First- and second-order linear error dynamics, stability of a feedback control system, and motion control of robots when the output of the controller commands joint velocities....
Reading
8 个视频 (总计 33 分钟), 1 个阅读材料, 9 个测验
Video8 个视频
Error Response (Chapter 11.2.1)2分钟
Linear Error Dynamics (Chapter 11.2.2)4分钟
First-Order Error Dynamics (Chapter 11.2.2.1)1分钟
Second-Order Error Dynamics (Chapter 11.2.2.2)5分钟
Motion Control with Velocity Inputs (Chapter 11.3, Part 1 of 3)4分钟
Motion Control with Velocity Inputs (Chapter 11.3, Part 2 of 3)6分钟
Motion Control with Velocity Inputs (Chapter 11.3, Part 3 of 3)4分钟
Reading1 个阅读材料
Chapter 11 through 11.3分钟
Quiz9 个练习
Lecture Comprehension, Control System Overview (Chapter 11.1)4分钟
Lecture Comprehension, Error Response (Chapter 11.2.1)2分钟
Lecture Comprehension, Linear Error Dynamics (Chapter 11.2.2)4分钟
Lecture Comprehension, First-Order Error Dynamics (Chapter 11.2.2.1)6分钟
Lecture Comprehension, Second-Order Error Dynamics (Chapter 11.2.2.2)4分钟
Lecture Comprehension, Motion Control with Velocity Inputs (Chapter 11.3, Part 1 of 3)6分钟
Lecture Comprehension, Motion Control with Velocity Inputs (Chapter 11.3, Part 2 of 3)2分钟
Lecture Comprehension, Motion Control with Velocity Inputs (Chapter 11.3, Part 3 of 3)8分钟
Chapter 11 through 11.3, Robot Control分钟
4
完成时间(小时)
完成时间为 3 小时

Chapter 11: Robot Control (Part 2 of 2)

Motion control of robots when the output of the controller commands joint torques, force control, and hybrid motion-force control....
Reading
5 个视频 (总计 25 分钟), 1 个阅读材料, 6 个测验
Video5 个视频
Motion Control with Torque or Force Inputs (Chapter 11.4, Part 2 of 3)5分钟
Motion Control with Torque or Force Inputs (Chapter 11.4, Part 3 of 3)7分钟
Force Control (Chapter 11.5)2分钟
Hybrid Motion-Force Control (Chapter 11.6)5分钟
Reading1 个阅读材料
Chapter 11.4 through 11.6分钟
Quiz6 个练习
Lecture Comprehension, Motion Control with Torque or Force Inputs (Chapter 11.4, Part 1 of 3)2分钟
Lecture Comprehension, Motion Control with Torque or Force Inputs (Chapter 11.4, Part 2 of 3)6分钟
Lecture Comprehension, Motion Control with Torque or Force Inputs (Chapter 11.4, Part 3 of 3)4分钟
Lecture Comprehension, Force Control (Chapter 11.5)2分钟
Lecture Comprehension, Hybrid Motion-Force Control (Chapter 11.6)2分钟
Chapter 11.4 through 11.6, Robot Control30分钟

讲师

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Kevin Lynch

Professor
Mechanical Engineering

关于 Northwestern University

Northwestern University is a private research and teaching university with campuses in Evanston and Chicago, Illinois, and Doha, Qatar. Northwestern combines innovative teaching and pioneering research in a highly collaborative environment that transcends traditional academic boundaries. ...

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....
Modern Robotics:  Mechanics, Planning, and Control

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