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 4 of the specialization, Robot Motion Planning and Control, you will learn key concepts of robot motion generation: planning a motion for a robot in the presence of obstacles, and real-time feedback control to track the planned motion. Chapter 10, Motion Planning, of the "Modern Robotics" textbook covers foundational material like C-space obstacles, graphs and trees, and graph search, as well as classical and modern motion planning techniques, such as grid-based motion planning, randomized sampling-based planners, and virtual potential fields. Chapter 11, Robot Control, covers motion control, force control, and hybrid motion-force control.
Course 4 of 6 in the Modern Robotics: Mechanics, Planning, and Control Specialization.
Syllabus
WEEK 1
Chapter 10: Motion Planning (Part 1 of 2)
C-space obstacles, graphs and trees, and A* graph search.
WEEK 2
Chapter 10: Motion Planning (Part 2 of 2)
Motion planning on a discretized C-space grid, randomized sampling-based planners, virtual potential fields, and nonlinear optimization.
WEEK 3
Chapter 11: Robot Control (Part 1 of 2)
First- and second-order linear error dynamics, stability of a feedback control system, and motion control of robots when the output of the controller commands joint velocities.
WEEK 4
Chapter 11: Robot Control (Part 2 of 2)
Motion control of robots when the output of the controller commands joint torques, force control, and hybrid motion-force control.
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.