课程信息
4.7
3 个评分
专项课程
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9 小时

建议:The capstone project requires approximately 20 hours of effort, depending on your programming skill....
可选语言

英语(English)

字幕:英语(English)
专项课程
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9 小时

建议:The capstone project requires approximately 20 hours of effort, depending on your programming skill....
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 5 小时

Introduction to the Capstone Project, and Milestone 1

Odometry for wheeled mobile robots and its use in a kinematic simulator for the youBot omnidirectional mobile robot with four mecanum wheels. ...
Reading
5 个视频 (总计 17 分钟), 2 个阅读材料
Video5 个视频
Video Summary of the Capstone Project2分钟
(Optional Review) Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 1 of 2)6分钟
(Optional Review) Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 2 of 2)3分钟
(Optional Review) Odometry (Chapter 13.4)4分钟
Reading2 个阅读材料
Welcome to Course 6, Capstone Project on Mobile Manipulation10分钟
Milestone 1: youBot Kinematics Simulator and csv Outputs
2
完成时间(小时)
完成时间为 5 小时

Milestone 2: Reference Trajectory Generation

Generating a reference trajectory in SE(3) for the end-effector of a mobile manipulator to achieve a pick-and-place task....
Reading
3 个视频 (总计 9 分钟), 1 个阅读材料
Video3 个视频
(Optional Review) Point-to-Point Trajectories (Chapters 9.1 and 9.2, Part 1 of 2)5分钟
(Optional Review) Point-to-Point Trajectories (Chapters 9.1 and 9.2, Part 1 of 2)3分钟
Reading1 个阅读材料
Milestone 2: Reference Trajectory Generations
3
完成时间(小时)
完成时间为 5 小时

Milestone 3: Feedforward Control

Feedforward control of the end-effector of a mobile manipulator to drive the end-effector along a reference trajectory. ...
Reading
4 个视频 (总计 20 分钟), 1 个阅读材料
Video4 个视频
(Optional Review) Body Jacobian (Chapter 5.1.2)4分钟
(Optional Review) Motion Control with Velocity Inputs (Chapter 11.3, Part 3 of 3)4分钟
(Optional Review) Mobile Manipulation (Chapter 13.5)6分钟
Reading1 个阅读材料
Milestone 3: Feedforward Controls
4
完成时间(小时)
完成时间为 5 小时

Completing the Project and Your Submission

Feedforward-plus-feedback control of the end-effector of a mobile manipulator to stabilize a reference trajectory for the end-effector....
Reading
1 个阅读材料, 1 个测验
Reading1 个阅读材料
Completing the Project and Your Submission10分钟

讲师

Avatar

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

常见问题

  • 注册以便获得证书后,您将有权访问所有视频、测验和编程作业(如果适用)。只有在您的班次开课之后,才可以提交和审阅同学互评作业。如果您选择在不购买的情况下浏览课程,可能无法访问某些作业。

  • 您注册课程后,将有权访问专项课程中的所有课程,并且会在完成课程后获得证书。您的电子课程证书将添加到您的成就页中,您可以通过该页打印您的课程证书或将其添加到您的领英档案中。如果您只想阅读和查看课程内容,可以免费旁听课程。

还有其他问题吗?请访问 学生帮助中心