Do you want to know how robots work? Are you interested in robotics as a career? Are you willing to invest the effort to learn fundamental mathematical modeling techniques that are used in all subfields of robotics? If so, then the "Modern Robotics: Mechanics, Planning, and Control" specialization may be for you. This specialization, consisting of six short courses, is serious preparation for serious students who hope to work in the field of robotics or to undertake advanced study. It is not a sampler. In Course 2 of the specialization, Robot Kinematics, you will learn to solve the forward kinematics (calculating the configuration of the "hand" of the robot based on the joint values) using the product-of-exponentials formula. Your efforts in Course 1 pay off handsomely, as forward kinematics is a breeze with the tools you've learned. This is followed by velocity kinematics and statics relating joint velocities and forces/torques to end-effector twists and wrenches, inverse kinematics (calculating joint values that achieve a desired "hand" configuration), and kinematics of robots with closed chains. This course follows the textbook "Modern Robotics: Mechanics, Planning, and Control" (Lynch and Park, Cambridge University Press 2017). You can purchase the book or use the free preprint pdf. You will build on a library of robotics software in the language of your choice (among Python, Mathematica, and MATLAB) and use the free cross-platform robot simulator V-REP, which allows you to work with state-of-the-art robots in the comfort of your own home and with zero financial investment.
This course is part of the Modern Robotics: Mechanics, Planning, and Control Specialization
Modern Robotics, Course 2: Robot Kinematics
Offered By
- Machine Learning Engineers
- Engineers
- Research Assistants
- Researchers
- Data Scientists
Syllabus - What you will learn from this course
Chapter 4: Forward Kinematics
Product of exponentials formula for forward kinematics in the space frame and the end-effector frame.
Chapter 5: Velocity Kinematics and Statics
Velocity kinematics using the space Jacobian and body Jacobian, statics of open chains, singularities, and manipulability.
Chapter 6: Inverse Kinematics
Analytical and numerical inverse kinematics.
Chapter 7: Kinematics of Closed Chains
Forward kinematics, inverse kinematics, velocity kinematics, and statics of closed chains.
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Top reviews from Modern Robotics, Course 2: Robot Kinematics
It is a great start for learning kinematics of open chain robots, i wish i could learn ore about the closed chain robots too, but they have given the boost, now its your turn to learn more and more
The lessons from this course are great. They help understand the practical applications from Course 1's lessons.
Instructor
Kevin Lynch
ProfessorAbout Northwestern University
About the Modern Robotics: Mechanics, Planning, and Control Specialization
Frequently Asked Questions
When will I have access to the lectures and assignments?
Once you enroll for a Certificate, you’ll have access to all videos, quizzes, and programming assignments (if applicable). Peer review assignments can only be submitted and reviewed once your session has begun. If you choose to explore the course without purchasing, you may not be able to access certain assignments.
What will I get if I subscribe to this Specialization?
When you enroll in the course, you get access to all of the courses in the Specialization, and you earn a certificate when you complete the work. Your electronic Certificate will be added to your Accomplishments page - from there, you can print your Certificate or add it to your LinkedIn profile. If you only want to read and view the course content, you can audit the course for free.
What is the refund policy?
Is financial aid available?
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