MOOC List is learner-supported. When you buy through links on our site, we may earn an affiliate commission.
MOOC List is learner-supported. When you buy through links on our site, we may earn an affiliate commission.
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.
Course 3 of 6 in the Modern Robotics: Mechanics, Planning, and Control Specialization.
Syllabus
WEEK 1
Chapter 8: Dynamics of Open Chains (Part 1 of 2)
Lagrangian formulation of dynamics, centripetal and Coriolis forces, robot mass matrix, dynamics of a rigid body, and Newton-Euler inverse dynamics for an open-chain robot.
WEEK 2
Chapter 8: Dynamics of Open Chains (Part 2 of 2)
Forward dynamics of an open chain, task-space dynamics, constrained dynamics, and practical effects due to gearing and friction.
WEEK 3
Chapter 9: Trajectory Generation (Part 1 of 2)
Point-to-point "straight-line" trajectories and polynomial trajectories passing through via points.
WEEK 4
Chapter 9: Trajectory Generation (Part 2 of 2)
Time-optimal motions along a specified path subject to robot dynamics and actuator limits.
MOOC List is learner-supported. When you buy through links on our site, we may earn an affiliate commission.
MOOC List is learner-supported. When you buy through links on our site, we may earn an affiliate commission.