Modern Robotics, Course 1: Foundations of Robot Motion

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  • Introduction to Modern Robotics
    • Introduction to the specialization, the Modern Robotics code library, the CoppeliaSim robot simulator, and the lightboard video-generation tool.
  • Chapter 2: Configuration Space (Part 1 of 2)
    • Configuration space and degrees of freedom of rigid bodies and robots.
  • Chapter 2: Configuration Space (Part 2 of 2)
    • Configuration space topology and representation; configuration and velocity constraints; task space and workspace.
  • Chapter 3: Rigid-Body Motions (Part 1 of 2)
    • Rigid-body motions, rotation matrices, angular velocities, and exponential coordinates of rotation.
  • Chapter 3: Rigid-Body Motions (Part 2 of 2)
    • Homogeneous transformation matrices, twists, screws, exponential coordinates of rigid-body motion, and wrenches.

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