현대 로봇공학, 강좌 4: 로봇 동작 계획 및 제어 from Coursera

로봇이 어떻게 작동하는지 궁금하신가요? 로봇공학 커리어에 관심이 있으신가요? 로봇공학의 모든 하위 분야에서 사용되는 기초적인 수학적 모델링 기법을 열심히 학습할 준비가 되셨나요?

그렇다면, ‘현대 로봇공학: 역학, 계획 및 제어(Modern Robotics: Mechanics, Planning, and Control)’ 전문 과정이 여러분에게 안성맞춤일 수 있습니다. 이 전문 과정은 여섯 개의 짧은 강의로 이루어져 있으며, 로봇공학 분야에서 근무하기를 진지하게 희망하거나 심화 연구를 진행하려는 학생들에게 적합합니다. 단순한 기초 모음집이 아닙니다.

이 전문 과정의 강좌 4 ‘로봇 동작 계획 및 제어’에서는, 단순 맛보기가 아니라 로봇 운동 생성의 핵심 개념들을 배우게 될 겁니다.장애물이 있는 환경에서 로봇의 운동을 계획하고, 실시간으로 피드백을 제어하여 계획한 운동을 추적하는 것이죠. ‘현대 로봇공학’ 교과서의 챕터 10 ‘운동 계획’은 배위 공간, 그래프와 트리, 그래프 서치 등 기본적인 내용을 다룹니다. 그리고 그리드 기반의 운동 계획, 무작위 샘플링 기반 설계자, 가상 퍼텐셜 장 등 고전적 방식과 현대적 방식을 아우르는 운동 계획 기법들 역시 다룹니다. 챕터 11 ‘로봇 제어’는 운동 제어, 힘 제어, 하이브리드 운동-힘 제어를 다룹니다.

이 강좌는 교과서 ‘Modern Robotics: Mechanics, Planning, and Control’(Lynch 및 Park, Cambridge University Press 2017)에 따라 제작되었습니다. 이 책을 구매하시거나 무료 pdf 견본을 사용하실 수 있습니다. 여러분이 원하는 언어(Python, Mathematica, 및 MATLAB)를 선택하여 로봇공학 소프트웨어의 라이브러리를 구축하실 수 있습니다. 또한 무료 크로스 플랫폼 로봇 시뮬레이터 V-REP를 사용해서 최첨단 로봇공학 작업을 집에서도 편하게 무료로 수행하실 수 있습니다.

What's inside

Syllabus

챕터 10: 운동 계획(파트 1/2)

배위 공간 장애물, 그래프와 트리, 그리고 A* 그래프 서치.

챕터 10: 운동 계획(파트 2/2)

이산화된 배위 공간에서의 운동 계획, 무작위 샘플링 기반 설계자, 가상 퍼텐셜 장, 비선형 최적화.

챕터 11: 로봇 제어(파트 1/2)

1계 및 2계 선형 오차 동역학, 피드백 제어 시스템의 안정성, 컨트롤러의 출력값이 관절 속도를 명령하는 로봇 운동 제어.

챕터 11: 로봇 제어(파트 2/2)

컨트롤러의 출력값이 관절 토크를 명령하는 로봇 운동 제어, 힘 제어, 하이브리드 운동-힘 제어.

Good to know

Know what's good

, what to watch for

, and possible dealbreakers

강좌는 학생들에게 로봇 운동 생성의 핵심 개념에 대해 가르칩니다

이 강좌는 현대 로봇공학 분야에서 기본적인 수학적 모델링 기법에 대한 철저한 연구를 원하는 학생들에게 적합합니다

강좌는 로봇 운동을 계획하고 제어하는 것을 다루며, 이는 로봇공학 분야에서 필수적인 기술입니다

강좌는 로봇공학 분야에서 저명한 연구자 및 교수인 Kevin Lynch가 지도합니다

강좌는 학생들이 로봇공학 분야에서 현대적이고 관련성 있는 지식을 습득하는 데 도움이 됩니다

강좌는 교재를 지원하고 무료 크로스 플랫폼 로봇 시뮬레이터를 제공하여 학생들이 실습 기회를 갖도록 합니다

Activities

Be better prepared before your course. Deepen your understanding during and after it. Supplement your coursework and achieve mastery of the topics covered in 현대 로봇공학, 강좌 4: 로봇 동작 계획 및 제어 with these activities:

로봇공학 분야 멘토 찾기

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멘토의 지도와 지원을 받아 학습 과정을 개선하고 로봇공학 커리어 목표를 향해 나아갈 수 있습니다.

Show steps

멘토링 프로그램 또는 플랫폼 탐구하기
잠재적 멘토 식별하기
연락하고 멘토링 관계 구축하기

로봇공학 소프트웨어 라이브러리 구축하기

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선택한 언어로 로봇공학 소프트웨어 라이브러리에 익숙해져 코스에 필요한 기술적 기반을 구축합니다.

Show steps

선호 언어로 로봇공학 라이브러리 선택하기
설치 및 구성하기
기본 튜토리얼 또는 문서 검토하기

V-REP를 사용하여 로봇 시뮬레이션 수행하기

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V-REP를 통해 로봇 시뮬레이션의 기본 사항을 익혀 실제 로봇 작업에 필요한 개념을 이해하는 데 도움이 됩니다.

Show steps

기본 튜토리얼 또는 설명서 검토하기
V-REP 소프트웨어 설치하기
간단한 로봇 모델 가져오기 또는 만들기
간단한 시뮬레이션 실행하기

Two other activities

Expand to see all activities and additional details

Show all five activities

로봇공학 워크숍 또는 세미나 참석하기

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로봇공학 전문가와 네트워크를 구축하고 새로운 기술을 익히며, 업계 최신 정보와 동향에 대해 알아보는 기회를 제공합니다.

Show steps

관련 워크숍 또는 세미나 찾기
등록하고 참석하기
전문가와 교류하고 학습하기

지역 로봇공학 클럽 또는 팀에서 자원 봉사하기

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실제 로봇 프로젝트에 참여하고 실무 경험을 쌓아 로봇공학 분야에 대한 이해도를 높입니다.

Show steps

지역 로봇공학 클럽 또는 팀 찾기
자원봉사 기회에 문의하기
프로젝트에 참여하고 경험 쌓기

Career center

Learners who complete 현대 로봇공학, 강좌 4: 로봇 동작 계획 및 제어 will develop knowledge and skills that may be useful to these careers:

Robotics Engineer

A Robotics Engineer designs, builds, and tests robots. The field of robotics is rapidly growing, and Robotics Engineers are in high demand. Those seeking to become Robotics Engineers must take courses such as Modern Robotics, which helps build a foundation in robot design, control, and planning. This is the kind of baseline knowledge that employers in the field expect new Robotics Engineers to have. Modern Robotics fits well for those who wish to pursue Robotics Engineering because it delivers the background and vocabulary necessary to succeed in the role.

See salaries and explore the career path for Robotics Engineer

Control Systems Engineer

Control Systems Engineers are responsible for designing, implementing, and maintaining control systems. They work in a variety of industries, including manufacturing, aerospace, and automotive. The skills and knowledge taught in Modern Robotics, particularly in Chapters 10 and 11, are essential for success as a Control Systems Engineer. The concepts of robot motion planning and control are directly applicable to the work that Control Systems Engineers do.

See salaries and explore the career path for Control Systems Engineer

Mechatronics Engineer

Mechatronics Engineers combine the principles of mechanical, electrical, and computer engineering to design and build products and systems. They work in a variety of industries, including manufacturing, robotics, and automation. Robotics is a major area of focus for Mechatronics Engineers, and Modern Robotics provides a strong foundation in the field. The course covers the fundamental concepts of robot design, control, and planning, which are essential for success as a Mechatronics Engineer.

See salaries and explore the career path for Mechatronics Engineer

Computer Vision Engineer

Computer Vision Engineers develop and implement algorithms and systems that enable computers to interpret and understand visual data. They work in a variety of industries, including robotics, healthcare, and manufacturing. Modern Robotics provides a strong foundation for Computer Vision Engineers, as it covers the fundamental concepts of robot perception and planning. The course also provides hands-on experience with image processing and computer vision algorithms.

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Automation Engineer

Automation Engineers design, build, and maintain automated systems. They work in a variety of industries, including manufacturing, logistics, and healthcare. Modern Robotics may be useful for those who wish to become Automation Engineers, as it provides a foundation in the fundamental concepts of robot design, control, and planning. The course also provides hands-on experience with programming and simulating robots.

See salaries and explore the career path for Automation Engineer

Manufacturing Engineer

Manufacturing Engineers design, build, and maintain manufacturing systems. They work in a variety of industries, including automotive, aerospace, and electronics. Modern Robotics may be useful for those who wish to become Manufacturing Engineers, as it provides a foundation in the fundamental concepts of robot design, control, and planning. The course also provides hands-on experience with programming and simulating robots.

See salaries and explore the career path for Manufacturing Engineer

Software Engineer

Software Engineers design, develop, and maintain software systems. They work in a variety of industries, including robotics, healthcare, and finance. Modern Robotics may be useful for those who wish to become Software Engineers, as it provides a foundation in the fundamental concepts of computer science and programming. The course also provides hands-on experience with programming and simulating robots.

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Systems Analyst

Systems Analysts design, develop, and maintain computer systems. They work in a variety of industries, including robotics, healthcare, and finance. Modern Robotics may be useful for those who wish to become Systems Analysts, as it provides a foundation in the fundamental concepts of computer science and information technology. The course also provides hands-on experience with programming and simulating robots.

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Electrical Engineer

Electrical Engineers design, develop, and maintain electrical systems. They work in a variety of industries, including robotics, power generation, and telecommunications. Modern Robotics may be useful for those who wish to become Electrical Engineers, as it provides a foundation in the fundamental concepts of electricity and electronics. The course also provides hands-on experience with programming and simulating robots.

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Mechanical Engineer

Mechanical Engineers design, develop, and maintain mechanical systems. They work in a variety of industries, including robotics, automotive, and aerospace. Modern Robotics may be useful for those who wish to become Mechanical Engineers, as it provides a foundation in the fundamental concepts of mechanics and materials science. The course also provides hands-on experience with programming and simulating robots.

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Data Scientist

Data Scientists collect, analyze, and interpret data to help businesses make better decisions. They work in a variety of industries, including robotics, healthcare, and finance. Modern Robotics provides some useful context for those who wish to become Data Scientists. The concepts of data collection, analysis, and interpretation are all relevant to the field of Data Science.

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Project Manager

Project Managers plan, organize, and execute projects. They work in a variety of industries, including robotics, construction, and healthcare. Modern Robotics provides some useful context for those who wish to become Project Managers. The concepts of planning, organization, and execution are all relevant to the field of Project Management.

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Operations Research Analyst

Operations Research Analysts use mathematical and analytical techniques to solve complex problems in business and industry. They work in a variety of industries, including robotics, supply chain management, and healthcare. Modern Robotics provides some useful context for those who wish to become Operations Research Analysts. The concepts of optimization and decision-making are all relevant to the field of Operations Research.

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Business Analyst

Business Analysts work with businesses to identify and solve problems. They use a variety of techniques, including data analysis, process mapping, and interviews. Modern Robotics provides some useful context for those who wish to become Business Analysts. The concepts of problem-solving and decision-making are all relevant to the field of Business Analysis.

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Technical Writer

Technical Writers create and maintain technical documentation, such as user manuals, training materials, and white papers. They work in a variety of industries, including robotics, software development, and manufacturing. Modern Robotics provides some useful context for those who wish to become Technical Writers. The concepts of technical writing and documentation are all relevant to the field of Technical Writing.

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