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PennX: Robotics: Dynamics and Control

Learn how to design and engineer complex, dynamic robotic systems.

Robotics: Dynamics and Control
12 semanas
8–10 horas por semana
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Robotics: Dynamics and Control

Sobre este curso

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Flying drones or robot manipulators accomplish heavy-duty tasks that deal with considerable forces and torques not covered by a purely robot kinematics framework. Learn how to formulate dynamics problems and design appropriate control laws.

In this course, part of the Robotics MicroMasters program, you will learn how to develop dynamic models of robot manipulators, mobile robots, and drones (quadrotors), and how to design intelligent controls for robotic systems that can grasp and manipulate objects.

We will cover robot dynamics, trajectory generation, motion planning, and nonlinear control, and develop real-time planning and control software modules for robotic systems. This course will give you the basic theoretical tools and enable you to design control algorithms.

Using MATLAB, you will apply what you have learned through a series of projects involving real-world robotic systems.

De un vistazo

  • Institution PennX
  • Subject Informática
  • Level Advanced
  • Prerequisites

    Good working knowledge of the following undergraduate subjects is required:

    • Linear algebra
    • Rigid body dynamics
    • Multivariable calculus
    • Ordinary differential equations

    The knowledge of basic computer science data structures such as graphs, link lists, etc. is preferred, but students may also choose to learn these skills on their own. The class projects will also require knowledge of MATLAB and programming in C or C++.

  • Language English
  • Video Transcript English
  • Associated skillsKinematics, Software Modules, Robotic Systems, Planning, MATLAB, Motion Planning, Trajectory

Lo que aprenderás

Omitir Lo que aprenderás
  • The dynamics of robot arms, mobile robots and quadrotors
  • Position and force control for robots
  • How to generate complex trajectories
  • The basics of configuration spaces for robotic systems
  • Controller synthesis and stability

Plan de estudios

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Week 1: Introduction and Course Overview
Week 2: Rigid Body Dynamics
Week 3: Dynamics of Robot Arms
Week 4: Project #1: Modeling of a Robot Arm
Week 5: Introduction to Linear Control
Week 6: State Space Modeling and Multivariable Systems
Week 7: Nonlinear Control
Week 8: Stability Theory
Week 9: Project #2: Control and Trajectory Following for a Mobile Robot
Week 10: Quadrotor Control
Week 11: Trajectory Generation
Week 12: Project #3: Planning and Control of a Quadrotor

¿Quién puede hacer este curso?

Lamentablemente, las personas residentes en uno o más de los siguientes países o regiones no podrán registrarse para este curso: Irán, Cuba y la región de Crimea en Ucrania. Si bien edX consiguió licencias de la Oficina de Control de Activos Extranjeros de los EE. UU. (U.S. Office of Foreign Assets Control, OFAC) para ofrecer nuestros cursos a personas en estos países y regiones, las licencias que hemos recibido no son lo suficientemente amplias como para permitirnos dictar este curso en todas las ubicaciones. edX lamenta profundamente que las sanciones estadounidenses impidan que ofrezcamos todos nuestros cursos a cualquier persona, sin importar dónde viva.

Formas de realizar este curso

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Verified Track

Audit Track

Costo

349 US$

Free

Acceso a los materiales del curso

Ilimitado

Limitado

World class institutions and universities

Asistencia de edX

Certificado para compartir al finalizar

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