Modern Robotics, Course 2: Robot Kinematics

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 ex

( 21 Reviews )

Created by: Kevin Lynch

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Overall Score : 96 / 100

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Course Description

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.

Time: 17h

Instructor Details

Kevin Lynch

4.8 Rating
21 Reviews

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, https://nu32.org), and "Modern Robotics: Mechanics, Planning, and Control" (Cambridge University Press, 2017, https://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.

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