机器人机械与控制 2

Robot Mechanics and Control, Part II

A mathematical introduction to the mechanics and control of robots.

640 次查看
首尔大学
edX
  • 完成时间大约为 4
  • 高级
  • 英语
注:因开课平台的各种因素变化,以上开课日期仅供参考

你将学到什么

The basics of robot control

Key concepts in robotics, including: screw motions, velocity and static analysis, kinematic singularities, inverse kinematics, and closed chain kinematics

The product of exponentials formula for forward kinematics

课程概况

This course is Part II of a two-part mathematical introduction to the mechanics and control of robots that can be modeled as kinematic chains. Topics covered include the concept of a robot’s configuration space and degrees of freedom, static grasp analysis, the description of rigid body motions, kinematics of open and closed chains, and the basics of robot control. The emphasis is not on the latest research trends and technological innovations in robotics, but on learning the fundamental concepts and core principles that underlie robotics as a scientific discipline. The intent is to help students acquire a unified set of analytical tools for the modeling and control of robots, together with a reliable physical intuition that recognizes the unique and interdisciplinary nature of robotics—in short, content that will serve as a reliable foundation for whatever trends may appear later, and remain relevant to both the practitioner and researcher. NOTE: Part II will cover screw motions and the product of exponentials kinematics formula, inverse kinematics of open chains, velocity kinematics and statics, closed chain kinematics, and basics of robot control.

预备知识

None.

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