Modern Robotics, Course 3: Robot Dynamics

Spacecraft Dynamics and Control covers three core topic areas: the description of the motion and rates of motion of rigid bodies (Kinematics), developing the equations of motion that prediction the movement of rigid bodies taking into account mass, torque, and inertia (Kinetics), and finally non-linear controls to program specific orientations and achieve precise aiming goals in three-dimensional space (Control). The specialization invites learners to develop competency in these three areas through targeted content delivery, continuous concept reinforcement, and project applications.The goal o

Created by: Kevin Lynch

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Overall Score : 90 / 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 3 of the specialization, Robot Dynamics, you will learn efficient numerical algorithms for forward dynamics (calculating the robot's acceleration given its configuration, velocity, and joint forces and torques) and inverse dynamics (calculating the required joint forces and torques given the robot's configuration, velocity, and acceleration). The former is useful for simulation, and the latter is useful for robot control. You will also learn how to plan robot trajectories subject to dynamic constraints.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.

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Instructor Details

Kevin Lynch

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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Reviews

4.5

10 total reviews

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By Sonja P on 27-Feb-19

Great lectures and great book. Very challenging, dont take it if you dont have much time.

By josevalenzuelalara on 3-Feb-19

Far too much focus on theory with little to now focus on application. The course in its current state is incomplete, adding on some realistic problems to convey the concepts would be better.Wrapping your head around all the wall of math and then answering theory questions with no link established to a real life examples makes the course "difficult". Meaning it could be made easier to understand but wasn't (not intentionally of course, just teaching style i guess).

By shubham a on 10-Feb-19

Excellent and useful!

By Luciano B on 21-Jun-18

Interesting course, it helps a lot in understanding and applying the material in the textbook.

By Thai D N D on 14-Oct-18

Concepts and Explanation is great if you are trying to go into robotics career

By saurabh v on 26-Aug-19

It is better if the "given program" is published in each course.

By Apurv S on 4-Jul-19

Thankyou sir , it was a wonderful journey into the depths of Robot Dynamics !

By doctor_wong on 13-Mar-19

The material is interesting. The videos could benefit by providing some bridging from theoretical to practical as some parts get too heavy into the math without really explaining to you what it means in the real world. There are some parts, such as the section on actuators, motors, etc that really start making you feel like your working on a robot. The peer graded assignments isn't the most effective method of evaluation as it all depends on the quantity of people enrolled in the course. Good course over all.

By Shounak K on 25-Dec-18

The course is very practical especially that almost every solution procedure you need is already programmed and provided, wonderful work by Prof. Kevin Lynch.If the videos were a bit longer with more examples, it would be even better.

By Vishwajeet K on 4-Sep-19

More problems would be much better.