Modern Robotics – Theetay

About Course

This Specialization provides a rigorous treatment of spatial motion and the dynamics of rigid bodies, employing representations from modern screw theory and the product of exponentials formula. Students with a freshman-level engineering background will quickly learn to apply these tools to analysis, planning, and control of robot motion. Students’ understanding of the mathematics of robotics will be solidified by writing robotics software. Students will test their software on a free state-of-the-art cross-platform robot simulator, allowing each student to have an authentic robot programming experience with industrial robot manipulators and mobile robots without purchasing expensive robot hardware. It is highly recommended that Courses 1-6 of the Specialization are taken in order, since the material builds on itself. theetay.com

Applied Learning Project

In the projects, students build on provided free software, written in multiple languages, allowing each student to choose their favorite language. Projects include writing a simulator for a robot arm, writing a robot motion planner, and writing software for trajectory planning and feedback control of a mobile manipulator consisting of a wheeled mobile robot and a robot arm. All software is tested on the robot simulator.

Course Content

introduction-to-modern-robotics

A Message from the Professor
04_welcome-and-acknowledgments.mp4

00:43
05_introduction-to-the-lightboard.mp4

01:32
Course Material Download Link

00:00

chapter-2-configuration-space-part-1-of-2

chapter-2-configuration-space-part-2-of-2

chapter-3-rigid-body-motions-part-1-of-2

chapter-3-rigid-body-motions-part-2-of-2

chapter-4-forward-kinematics

chapter-5-velocity-kinematics-and-statics

chapter-6-inverse-kinematics

chapter-7-kinematics-of-closed-chains

chapter-8-dynamics-of-open-chains-part-1-of-2

chapter-8-dynamics-of-open-chains-part-2-of-2

chapter-9-trajectory-generation-part-1-of-2

chapter-9-trajectory-generation-part-2-of-2

chapter-10-motion-planning-part-1-of-2

chapter-10-motion-planning-part-2-of-2

chapter-11-robot-control-part-1-of-2

02_control-system-overview-chapter-11-1.mp4

03:24
03_error-response-chapter-11-2-1.mp4

02:49
04_linear-error-dynamics-chapter-11-2-2.mp4

04:20
05_first-order-error-dynamics-chapter-11-2-2-1.mp4

01:56
06_second-order-error-dynamics-chapter-11-2-2-2.mp4

05:37
07_motion-control-with-velocity-inputs-chapter-11-3-part-1-of-3.mp4

04:13
08_motion-control-with-velocity-inputs-chapter-11-3-part-2-of-3.mp4

06:02
09_motion-control-with-velocity-inputs-chapter-11-3-part-3-of-3.mp4

04:29

chapter-11-robot-control-part-2-of-2

chapter-12-grasping-and-manipulation-part-1-of-2

chapter-12-grasping-and-manipulation-part-2-of-2

chapter-13-wheeled-mobile-robots-part-1-of-2

chapter-13-wheeled-mobile-robots-part-2-of-2

02_controllability-of-wheeled-mobile-robots-chapter-13-3-2-part-1-of-4.mp4

04:07
03_controllability-of-wheeled-mobile-robots-chapter-13-3-2-part-2-of-4.mp4

06:28
03_controllability-of-wheeled-mobile-robots-chapter-13-3-2-part-2-of-4.mp4

06:28
04_controllability-of-wheeled-mobile-robots-chapter-13-3-2-part-3-of-4.mp4

05:38
05_controllability-of-wheeled-mobile-robots-chapter-13-3-2-part-4-of-4.mp4

05:26
06_motion-planning-for-nonholonomic-mobile-robots-chapter-13-3-3.mp4

05:02
07_feedback-control-for-nonholonomic-mobile-robots-chapter-13-3-4.mp4

05:42
08_odometry-chapter-13-4.mp4

04:32
09_mobile-manipulation-chapter-13-5.mp4

06:19

introduction-to-the-capstone-project-and-milestone-1

milestone-2-reference-trajectory-generation

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About Course

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Course Content

introduction-to-modern-robotics

A Message from the Professor

04_welcome-and-acknowledgments.mp4

05_introduction-to-the-lightboard.mp4

Course Material Download Link

chapter-2-configuration-space-part-1-of-2

03_foundations-of-robot-motion.mp4

04_degrees-of-freedom-of-a-rigid-body-chapter-2-through-2-1.mp4

05_degrees-of-freedom-of-a-robot-chapter-2-2.mp4

chapter-2-configuration-space-part-2-of-2

02_configuration-space-topology-chapter-2-3-1.mp4

03_configuration-space-representation-chapter-2-3-2.mp4

04_configuration-and-velocity-constraints-chapter-2-4.mp4

05_task-space-and-workspace-chapter-2-5.mp4

chapter-3-rigid-body-motions-part-1-of-2

02_introduction-to-rigid-body-motions-chapter-3-through-3-1.mp4

03_rotation-matrices-chapter-3-2-1-part-1-of-2.mp4

04_rotation-matrices-chapter-3-2-1-part-2-of-2.mp4

05_angular-velocities-chapter-3-2-2.mp4

06_exponential-coordinates-of-rotation-chapter-3-2-3-part-1-of-2.mp4

07_exponential-coordinates-of-rotation-chapter-3-2-3-part-2-of-2.mp4

chapter-3-rigid-body-motions-part-2-of-2

02_homogeneous-transformation-matrices-chapter-3-3-through-3-3-1.mp4

03_twists-chapter-3-3-2-part-1-of-2.mp4

04_twists-chapter-3-3-2-part-2-of-2.mp4

05_exponential-coordinates-of-rigid-body-motion-chapter-3-3-3.mp4

06_wrenches-chapter-3-4.mp4

chapter-4-forward-kinematics

04_product-of-exponentials-formula-in-the-space-frame-chapter-4-through-4-1-2.mp4

05_product-of-exponentials-formula-in-the-end-effector-frame-chapter-4-1-3.mp4

06_forward-kinematics-example.mp4

chapter-5-velocity-kinematics-and-statics

02_velocity-kinematics-and-statics-chapter-5-introduction.mp4

03_space-jacobian-chapter-5-1-through-5-1-1.mp4

05_statics-of-open-chains-chapter-5-2.mp4

06_singularities-chapter-5-3.mp4

07_manipulability-chapter-5-4.mp4

chapter-6-inverse-kinematics

02_inverse-kinematics-of-open-chains-chapter-6-introduction.mp4

03_numerical-inverse-kinematics-chapter-6-2-part-1-of-2.mp4

04_numerical-inverse-kinematics-chapter-6-2-part-2-of-2.mp4

chapter-7-kinematics-of-closed-chains

02_kinematics-of-closed-chains-chapter-7.mp4

chapter-8-dynamics-of-open-chains-part-1-of-2

04_lagrangian-formulation-of-dynamics-chapter-8-through-8-1-2-part-1-of-2.mp4

05_lagrangian-formulation-of-dynamics-chapter-8-through-8-1-2-part-2-of-2.mp4

06_understanding-the-mass-matrix-chapter-8-1-3.mp4

07_dynamics-of-a-single-rigid-body-chapter-8-2-part-1-of-2.mp4

08_dynamics-of-a-single-rigid-body-chapter-8-2-part-2-of-2.mp4

09_newton-euler-inverse-dynamics-chapter-8-3.mp4

chapter-8-dynamics-of-open-chains-part-2-of-2

02_forward-dynamics-of-open-chains-chapter-8-5.mp4

03_dynamics-in-the-task-space-chapter-8-6.mp4

04_constrained-dynamics-chapter-8-7.mp4

05_actuation-gearing-and-friction-chapter-8-9.mp4

chapter-9-trajectory-generation-part-1-of-2

02_point-to-point-trajectories-chapter-9-through-9-2-part-1-of-2.mp4

03_point-to-point-trajectories-chapter-9-through-9-2-part-2-of-2.mp4

04_polynomial-via-point-trajectories-chapter-9-3.mp4

chapter-9-trajectory-generation-part-2-of-2

02_time-optimal-time-scaling-chapter-9-4-part-1-of-3.mp4

03_time-optimal-time-scaling-chapter-9-4-part-2-of-3.mp4

04_time-optimal-time-scaling-chapter-9-4-part-3-of-3.mp4

chapter-10-motion-planning-part-1-of-2

04_overview-of-motion-planning-chapter-10-1.mp4

05_c-space-obstacles-chapter-10-2-1.mp4

06_graphs-and-trees-chapter-10-2-3.mp4

07_graph-search-chapter-10-2-4.mp4

08_complete-path-planners-chapter-10-3.mp4

chapter-10-motion-planning-part-2-of-2

02_grid-methods-for-motion-planning-chapter-10-4.mp4

03_sampling-methods-for-motion-planning-chapter-10-5-part-1-of-2.mp4

04_sampling-methods-for-motion-planning-chapter-10-5-part-2-of-2.mp4

05_virtual-potential-fields-chapter-10-6.mp4

06_nonlinear-optimization-chapter-10-7.mp4

chapter-11-robot-control-part-1-of-2

02_control-system-overview-chapter-11-1.mp4