Modern Robotics: Mechanics, Planning, and Control
共97课时 7小时24分55秒秒
简介
The most important concepts in modern robotics. A study of the kinematics, dynamics, motion planning, and control of mobile robots and robot arms.
Kevin Lynch is Professor and Chair of the Mechanical Engineering Department at Northwestern University. He is a member of the Neuroscience and Robotics Lab (nxr.northwestern.edu) and the Northwestern Institute on Complex Systems (nico.northwestern.edu). His research focuses on dynamics, motion planning, and control for robot manipulation and locomotion; self-organizing multi-agent systems; and functional electrical stimulation for restoration of human function. Dr. Lynch is Editor-in-Chief of the IEEE International Conference on Robotics and Automation and incoming Editor-in-Chief of the IEEE Transactions on Robotics. He is co-author of the textbooks "Principles of Robot Motion" (MIT Press, 2005), "Embedded Computing and Mechatronics" (Elsevier, 2015, http://nu32.org), and "Modern Robotics: Mechanics, Planning, and Control" (Cambridge University Press, 2017, http://modernrobotics.org). He is an IEEE fellow and the recipient of Northwestern's Professorship of Teaching Excellence and the Northwestern Teacher of the Year award in engineering. He earned a BSE in electrical engineering from Princeton University and a PhD in robotics from Carnegie Mellon University.
章节
- 课时1:Introduction to the Lightboard (1分32秒)
- 课时2:Acknowledgments (43秒)
- 课时3:Foundations of Robot Motion (2分11秒)
- 课时4:Degrees of Freedom of a Rigid Body (5分14秒)
- 课时5:Degrees of Freedom of a Robot (5分42秒)
- 课时6:Configuration Space Topology (4分36秒)
- 课时7:Configuration Space Representation (3分51秒)
- 课时8:Configuration and Velocity Constraints (4分20秒)
- 课时9:Task Space and Workspace (1分34秒)
- 课时10:Introduction to Rigid-Body Motions (2分9秒)
- 课时11:Rotation Matrices (Part 1 of 2) (2分53秒)
- 课时12:Rotation Matrices (Part 2 of 2) (4分13秒)
- 课时13:Angular Velocities (3分27秒)
- 课时14:Exponential Coordinates of Rotation (Part 1 of 2) (2分3秒)
- 课时15:Exponential Coordinates of Rotation (Part 2 of 2) (3分42秒)
- 课时16:Homogeneous Transformation Matrices (6分21秒)
- 课时17:Twists (Part 1 of 2) (4分59秒)
- 课时18:Twists (Part 2 of 2) (2分38秒)
- 课时19:Exponential Coordinates of Rigid-Body Motion (4分59秒)
- 课时20:Wrenches (3分0秒)
- 课时21:Forward Kinematics Example (3分27秒)
- 课时22:Product of Exponentials Formula in the Space Frame (6分30秒)
- 课时23:Product of Exponentials Formula in the End-Effector Frame (4分40秒)
- 课时24:Velocity Kinematics and Statics (8分27秒)
- 课时25:Space Jacobian (5分58秒)
- 课时26:Body Jacobian (4分50秒)
- 课时27:Statics of Open Chains (2分53秒)
- 课时28:Singularities (6分36秒)
- 课时29:Manipulability (5分43秒)
- 课时30:Inverse Kinematics of Open Chains (4分2秒)
- 课时31:Numerical Inverse Kinematics (Part 1 of 2) (5分3秒)
- 课时32:Numerical Inverse Kinematics (Part 2 of 2) (4分46秒)
- 课时33:Kinematics of Closed Chains (8分33秒)
- 课时34:Lagrangian Formulation of Dynamics (Part 1 of 2) (6分41秒)
- 课时35:Lagrangian Formulation of Dynamics (Part 2 of 2) (5分35秒)
- 课时36:Understanding the Mass Matrix (5分21秒)
- 课时37:Dynamics of a Single Rigid Body (Part 1 of 2) (6分12秒)
- 课时38:Dynamics of a Single Rigid Body (Part 2 of 2) (4分4秒)
- 课时39:Newton-Euler Inverse Dynamics (5分52秒)
- 课时40:Forward Dynamics of Open Chains (3分43秒)
- 课时41:Dynamics in the Task Space (1分31秒)
- 课时42:Constrained Dynamics (4分14秒)
- 课时43:Actuation, Gearing, and Friction (6分6秒)
- 课时44:Point-to-Point Trajectories (Part 1 of 2) (5分40秒)
- 课时45:Point-to-Point Trajectories (Part 2 of 2) (3分7秒)
- 课时46:Polynomial Via Point Trajectories (2分59秒)
- 课时47:Time-Optimal Time Scaling (Part 1 of 3) (5分38秒)
- 课时48:Time-Optimal Time Scaling (Part 2 of 3) (6分36秒)
- 课时49:Time-Optimal Time Scaling (Part 3 of 3) (4分45秒)
- 课时50:Overview of Motion Planning (4分32秒)
- 课时51:C-Space Obstacles (4分43秒)
- 课时52:Graphs and Trees (2分23秒)
- 课时53:Graph Search (9分25秒)
- 课时54:Complete Path Planners (3分4秒)
- 课时55:Grid Methods for Motion Planning (4分25秒)
- 课时56:Sampling Methods for Motion Planning (Part 1 of 2) (3分11秒)
- 课时57:Sampling Methods for Motion Planning (Part 2 of 2) (7分13秒)
- 课时58:Virtual Potential Fields (5分9秒)
- 课时59:Nonlinear Optimization (5分30秒)
- 课时60:Control System Overview (3分24秒)
- 课时61:Error Response (2分49秒)
- 课时62:Linear Error Dynamics (4分20秒)
- 课时63:First-Order Error Dynamics (1分56秒)
- 课时64:Second-Order Error Dynamics (5分36秒)
- 课时65:Motion Control with Velocity Inputs (Part 1 of 3) (4分13秒)
- 课时66:Motion Control with Velocity Inputs (Part 2 of 3) (6分2秒)
- 课时67:Motion Control with Velocity Inputs (Part 3 of 3) (4分29秒)
- 课时68:Motion Control with Torque or Force Inputs (Part 1 of 3) (4分5秒)
- 课时69:Motion Control with Torque or Force Inputs (Part 2 of 3) (5分32秒)
- 课时70:Motion Control with Torque or Force Inputs (Part 3 of 3) (7分12秒)
- 课时71:Force Control (2分45秒)
- 课时72:Hybrid Motion-Force Control (5分26秒)
- 课时73:Grasping and Manipulation (4分55秒)
- 课时74:First-Order Analysis of a Single Contact (4分14秒)
- 课时75:Contact Types - Rolling, Sliding, and Breaking (5分41秒)
- 课时76:Multiple Contacts (4分48秒)
- 课时77:Planar Graphical Methods (Part 1 of 2) (4分19秒)
- 课时78:Planar Graphical Methods (Part 2 of 2) (4分44秒)
- 课时79:Form Closure (4分7秒)
- 课时80:Friction (5分38秒)
- 课时81:Planar Graphical Methods (4分4秒)
- 课时82:Force Closure (4分4秒)
- 课时83:Duality of Force and Motion Freedoms (3分32秒)
- 课时84:Manipulation and the Meter-Stick Trick (5分16秒)
- 课时85:Transport of an Assembly (3分4秒)
- 课时86:Wheeled Mobile Robots (2分10秒)
- 课时87:Omnidirectional Wheeled Mobile Robots (Part 1 of 2) (6分2秒)
- 课时88:Omnidirectional Wheeled Mobile Robots (Part 2 of 2) (3分0秒)
- 课时89:Modeling of Nonholonomic Wheeled Mobile Robots (5分0秒)
- 课时90:Controllability of Wheeled Mobile Robots (Part 1 of 4) (4分7秒)
- 课时91:Controllability of Wheeled Mobile Robots (Part 2 of 4) (6分28秒)
- 课时92:Controllability of Wheeled Mobile Robots (Part 3 of 4) (5分38秒)
- 课时93:Controllability of Wheeled Mobile Robots (Part 4 of 4) (5分26秒)
- 课时94:Motion Planning for Nonholonomic Mobile Robots (5分2秒)
- 课时95:Feedback Control for Nonholonomic Mobile Robots (5分42秒)
- 课时96:Odometry (4分32秒)
- 课时97:anipulation (6分19秒)
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