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Modern Robotics: Mechanics, Planning, and Control
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Exponential Coordinates of Rotation (Part 1 of 2)
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课程目录
课程笔记
课时1：Introduction to the Lightboard
课时2：Acknowledgments
课时3：Foundations of Robot Motion
课时4：Degrees of Freedom of a Rigid Body
课时5：Degrees of Freedom of a Robot
课时6：Configuration Space Topology
课时7：Configuration Space Representation
课时8：Configuration and Velocity Constraints
课时9：Task Space and Workspace
课时10：Introduction to Rigid-Body Motions
课时11：Rotation Matrices (Part 1 of 2)
课时12：Rotation Matrices (Part 2 of 2)
课时13：Angular Velocities
课时14：Exponential Coordinates of Rotation (Part 1 of 2)
课时15：Exponential Coordinates of Rotation (Part 2 of 2)
课时16：Homogeneous Transformation Matrices
课时17：Twists (Part 1 of 2)
课时18：Twists (Part 2 of 2)
课时19：Exponential Coordinates of Rigid-Body Motion
课时20：Wrenches
课时21：Forward Kinematics Example
课时22：Product of Exponentials Formula in the Space Frame
课时23：Product of Exponentials Formula in the End-Effector Frame
课时24：Velocity Kinematics and Statics
课时25：Space Jacobian
课时26：Body Jacobian
课时27：Statics of Open Chains
课时28：Singularities
课时29：Manipulability
课时30：Inverse Kinematics of Open Chains
课时31：Numerical Inverse Kinematics (Part 1 of 2)
课时32：Numerical Inverse Kinematics (Part 2 of 2)
课时33：Kinematics of Closed Chains
课时34：Lagrangian Formulation of Dynamics (Part 1 of 2)
课时35：Lagrangian Formulation of Dynamics (Part 2 of 2)
课时36：Understanding the Mass Matrix
课时37：Dynamics of a Single Rigid Body (Part 1 of 2)
课时38：Dynamics of a Single Rigid Body (Part 2 of 2)
课时39：Newton-Euler Inverse Dynamics
课时40：Forward Dynamics of Open Chains
课时41：Dynamics in the Task Space
课时42：Constrained Dynamics
课时43：Actuation, Gearing, and Friction
课时44：Point-to-Point Trajectories (Part 1 of 2)
课时45：Point-to-Point Trajectories (Part 2 of 2)
课时46：Polynomial Via Point Trajectories
课时47：Time-Optimal Time Scaling (Part 1 of 3)
课时48：Time-Optimal Time Scaling (Part 2 of 3)
课时49：Time-Optimal Time Scaling (Part 3 of 3)
课时50：Overview of Motion Planning
课时51：C-Space Obstacles
课时52：Graphs and Trees
课时53：Graph Search
课时54：Complete Path Planners
课时55：Grid Methods for Motion Planning
课时56：Sampling Methods for Motion Planning (Part 1 of 2)
课时57：Sampling Methods for Motion Planning (Part 2 of 2)
课时58：Virtual Potential Fields
课时59：Nonlinear Optimization
课时60：Control System Overview
课时61：Error Response
课时62：Linear Error Dynamics
课时63：First-Order Error Dynamics
课时64：Second-Order Error Dynamics
课时65：Motion Control with Velocity Inputs (Part 1 of 3)
课时66：Motion Control with Velocity Inputs (Part 2 of 3)
课时67：Motion Control with Velocity Inputs (Part 3 of 3)
课时68：Motion Control with Torque or Force Inputs (Part 1 of 3)
课时69：Motion Control with Torque or Force Inputs (Part 2 of 3)
课时70：Motion Control with Torque or Force Inputs (Part 3 of 3)
课时71：Force Control
课时72：Hybrid Motion-Force Control
课时73：Grasping and Manipulation
课时74：First-Order Analysis of a Single Contact
课时75：Contact Types - Rolling, Sliding, and Breaking
课时76：Multiple Contacts
课时77：Planar Graphical Methods (Part 1 of 2)
课时78：Planar Graphical Methods (Part 2 of 2)
课时79：Form Closure
课时80：Friction
课时81：Planar Graphical Methods
课时82：Force Closure
课时83：Duality of Force and Motion Freedoms
课时84：Manipulation and the Meter-Stick Trick
课时85：Transport of an Assembly
课时86：Wheeled Mobile Robots
课时87：Omnidirectional Wheeled Mobile Robots (Part 1 of 2)
课时88：Omnidirectional Wheeled Mobile Robots (Part 2 of 2)
课时89：Modeling of Nonholonomic Wheeled Mobile Robots
课时90：Controllability of Wheeled Mobile Robots (Part 1 of 4)
课时91：Controllability of Wheeled Mobile Robots (Part 2 of 4)
课时92：Controllability of Wheeled Mobile Robots (Part 3 of 4)
课时93：Controllability of Wheeled Mobile Robots (Part 4 of 4)
课时94：Motion Planning for Nonholonomic Mobile Robots
课时95：Feedback Control for Nonholonomic Mobile Robots
课时96：Odometry
课时97：anipulation
时长：2分3秒
日期：2019/06/16
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课程介绍
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The most important concepts in modern robotics. A study of the kinematics, dynamics, motion planning, and control of mobile robots and robot arms.
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木犯001号
Modern Robotics Mechanics, Planning, and Control pdf http://download.eeworld.com.cn/detail/%E6%9C%A8%E7%8A%AF001%E5%8F%B7/603429
2019年06月21日 21:04:50
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