현대 로봇공학, 강좌 5: 로봇 매니퓰레이션 및 차륜형 이동 로봇 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. 이 강좌는 단순하지 않습니다.

전문 과정의 다섯 번째 강좌, 로봇 운동 계획 및 차륜형 이동 로봇에서는 로봇공학의 심화 주제를 탐구합니다. "현대 로봇공학" 교과서의 챕터 12, 잡기 및 매니퓰레이션에서는 접촉하는 강체 간 운동학과 하중의 모델링을 다루며, 모델링을 로봇 그립 및 기타 매니퓰레이션 작업의 분석 및 계획에 적용합니다.챕터 13 차륜형 이동 로봇은 전방향 및 비홀로노믹 차륜형 이동 로봇의 모델링, 운동 계획과 피드백 제어를 다룹니다. 그리고 차륜형 이동 베이스, 그리고 로봇 암으로 구성된 모바일 매니퓰레이터의 제어로 마무리합니다.

본 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-REP으로 집에서도 편하게 무료로 최첨단 로봇공학 작업을 해 보실 수 있습니다.

What's inside

Syllabus

챕터 12: 잡기 및 매니퓰레이션(파트 1/2)

접촉의 운동학, 접촉 유형(구름, 미끄럼, 끊어짐), 평면에서 운동학적 제약 조건을 나타내는 그래픽 방법 및 구조적 지지 상황(완전한 운동학적 제약 조건).

챕터 12: 잡기 및 매니퓰레이션(파트 2/2)

쿨롱 마찰, 마찰 원뿔, 평면에서 힘과 토크를 나타내는 그래픽 방법, 힘 지지 상황, 잡기 이외의 매니퓰레이션.

Traffic lights

Read about what's good

what should give you pause

and possible dealbreakers

Examines rigid body dynamics, motion planning, and feedback control, which are the foundational knowledge needed in all subfields of robotics

Uses Python, Mathematica, and MATLAB, three of the most popular coding languages used in robotics, for software development

Can be used to build a strong foundation for those who want to work in robotics, as well as those interest in deep research

Teaches motion planning and wheeled mobile robots, which are advanced topics in robotics

Reviews summary

로봇 매니퓰레이션 및 이동 로봇 심화

학습자들은 이 강좌가 현대 로봇공학의 심화 주제인 매니퓰레이션 및 차륜형 이동 로봇에 대한 깊이 있는 지식과 수학적 모델링 기법을 제공한다고 평가합니다. 교과서 'Modern Robotics'와의 긴밀한 연계와 V-REP 시뮬레이터 활용을 통한 실용적인 학습 기회를 긍정적으로 언급합니다. 그러나 학생들은 이 강좌가 상당히 도전적이며 탄탄한 수학 및 로봇공학 선수 지식이 필수적이라고 강조합니다. 특히 초보자에게는 매우 어려운 과정이 될 수 있습니다. 전반적으로 전문성을 강화하려는 학습자에게 적합합니다.

교과서 'Modern Robotics'에 기반하여 체계적인 학습 경험을 제공합니다.

"Lynch와 Park의 교과서와 완벽하게 연동되어 학습 효율이 높습니다."

"교과서만으로는 이해하기 어려웠던 부분을 강의를 통해 명확히 할 수 있었습니다."

"교과서와 함께 학습하면 시너지가 매우 뛰어납니다."

V-REP 시뮬레이터와 프로그래밍 언어 활용으로 실습 기회를 제공합니다.

"V-REP을 사용한 실습 과제가 개념 이해에 큰 도움이 되었습니다."

"Python, Mathematica, MATLAB 라이브러리 구축에 대한 설명이 유용했습니다."

"이론을 실제 로봇 환경에 적용해보는 경험이 좋았습니다."

로봇공학의 고급 주제를 깊이 있게 다루며 전문성을 요합니다.

"이 강좌는 현대 로봇공학에서 가장 중요하고 심도 깊은 주제들을 다룹니다."

"선수 지식이 있다면 이론적 기초를 다지는 데 최적의 강의입니다."

"복잡한 수학적 모델링을 이해하고 적용하는 데 큰 도움이 됩니다."

이 과정은 상당한 사전 지식과 노력을 요구하는 매우 도전적인 강좌입니다.

"만약 로봇공학에 대한 기본적인 이해가 없다면 따라가기 매우 어렵습니다."

"교과서 'Modern Robotics'의 이전 챕터들을 미리 학습해야 합니다."

"수학과 물리에 대한 견고한 배경 없이는 강의 내용을 소화하기 힘듭니다."

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 5: 로봇 매니퓰레이션 및 차륜형 이동 로봇 with these activities:

Refresher on 3-Dimensional Kinematics

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3D kinematics is a course prerequisite. Get a head start and begin your knowledge review to hit the ground running on course day 1.

Browse courses on Rigid Body Dynamics

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Watch videos on 3D kinematics reviewed by a course instructor.
Review textbook sections on 3D kinematics
Solve practice problems on projectile motion, ranging from easy to medium difficulty
Attempt a practice quiz to test your understanding

Refresher on Differential Equations

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Differential equations are a key tool in robotics. Get a quick refresher to enhance your ability to solve robotic problems.

Browse courses on Differential Equations

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Review your notes or a textbook on differential equations
Solve a variety of differential equations, ranging from easy to medium difficulty
Attempt a practice quiz to test your understanding

Drills for Python Programming for Robotics

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Python is a widely used programming language in robotics. Improve your Python skills with focused practice on robotics-related problems.

Browse courses on Python

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Find a collection of Python programming problems for robotics
Solve as many problems as possible within the time limit
Review and correct any errors in your solutions
Repeat as needed

Six other activities

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Show all nine activities

Drills on Matrix Differentiation

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Matrix differentiation is an important skill in robotics. Improve your comfort level, accuracy, and speed through repeated drills.

Browse courses on Linear Algebra

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Find a curated list of matrix differentiation problems
Solve as many problems as possible within the time limit of 60 minutes
Review and correct any errors in your solutions
Repeat as needed

Gazebo Tutorial for Mobile Robot Simulation

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The Gazebo platform is used for simulating mobile robots. Familiarize yourself with its basics before moving on to more advanced mobile robot topics.

Browse courses on Simulation

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Follow the official Gazebo tutorials
Create a simple mobile robot model and simulate it in Gazebo

Attend a Robotics Meetup

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Networking with other people in the field of robotics can help you learn about new technologies, career opportunities, and research findings.

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Find a robotics meetup in your area
Attend the meetup and introduce yourself to other attendees

Mobile Robot Kinematics Mini-Project

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Enhance your understanding of the mathematical models of mobile robot kinematics by building a small program to simulate and visualize robot motion.

Browse courses on Kinematics

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Choose a mobile robot model
Develop a mathematical model for the robot's kinematics
Write a program to simulate and visualize the robot's motion
Compare simulation results with theoretical predictions

Contribute to Open Robotics

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Gain practical experience with robotics and open source by contributing to a real-world project like ROS.

Browse courses on Open Source

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Explore the Open Robotics website to find a project that interests you
Contribute to the project by reporting bugs, writing documentation, or contributing code

Create Video Explaining a Challenging Concept

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Choose a challenging concept in robotics, research it further, and create a video explaining it in a clear and engaging way. This will help you solidify your understanding and improve your communication skills.

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Choose a challenging robotics concept
Research the concept further to deepen your understanding
Create a video explaining the concept in a way that is clear and engaging for others

Career center

Learners who complete 현대 로봇공학, 강좌 5: 로봇 매니퓰레이션 및 차륜형 이동 로봇 will develop knowledge and skills that may be useful to these careers:

Robotics Researcher

Robotics Researchers conduct research in the field of robotics. This course may be useful for Robotics Researchers who wish to gain a deeper understanding of robot manipulation and wheeled mobile robots. The course covers topics such as the kinematics and dynamics of robot manipulators, path planning, and feedback control, which are all essential for the successful conduct of research in robotics.

See salaries and explore the career path for Robotics Researcher

Aerospace Engineer

Aerospace Engineers design and develop aircraft, spacecraft, and other aerospace systems. This course may be useful for Aerospace Engineers who wish to gain a deeper understanding of robot manipulation and wheeled mobile robots. The course covers topics such as the kinematics and dynamics of robot manipulators, path planning, and feedback control, which are all essential for the successful design and development of autonomous aerospace systems.

See salaries and explore the career path for Aerospace Engineer

Control Systems Engineer

Control Systems Engineers design and develop systems that control the behavior of physical systems. This course may be useful for Control Systems Engineers who wish to gain a deeper understanding of robot manipulation and wheeled mobile robots. The course covers topics such as the kinematics and dynamics of robot manipulators, path planning, and feedback control, which are all essential for the successful design and development of control systems.

See salaries and explore the career path for Control Systems Engineer

Robotics Engineer

Robotics Engineers design, develop, and test robots and robotic systems. This course may be useful for Robotics Engineers who wish to gain a deeper understanding of robot manipulation and wheeled mobile robots. The course covers topics such as the kinematics and dynamics of robot manipulators, path planning, and feedback control, which are all essential for the successful design and development of robots.

See salaries and explore the career path for Robotics Engineer

Systems Engineer

Systems Engineers design and develop complex systems that integrate multiple components. This course may be useful for Systems Engineers who wish to gain a deeper understanding of robot manipulation and wheeled mobile robots. The course covers topics such as the kinematics and dynamics of robot manipulators, path planning, and feedback control, which are all essential for the successful design and development of complex systems that include robots.

See salaries and explore the career path for Systems Engineer

Automotive Engineer

Automotive Engineers design and develop automobiles and their components. This course may be useful for Automotive Engineers who wish to gain a deeper understanding of robot manipulation and wheeled mobile robots. The course covers topics such as the kinematics and dynamics of robot manipulators, path planning, and feedback control, which are all essential for the successful design and development of autonomous vehicles.

See salaries and explore the career path for Automotive Engineer

Biomedical Engineer

Biomedical Engineers design and develop medical devices and systems. This course may be useful for Biomedical Engineers who wish to gain a deeper understanding of robot manipulation and wheeled mobile robots. The course covers topics such as the kinematics and dynamics of robot manipulators, path planning, and feedback control, which are all essential for the successful design and development of surgical robots and other medical devices.

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Mechatronics Engineer

Mechatronics Engineers design and develop systems that integrate mechanical, electrical, and computer engineering. This course may be useful for Mechatronics Engineers who wish to gain a deeper understanding of robot manipulation and wheeled mobile robots. The course covers topics such as the kinematics and dynamics of robot manipulators, path planning, and feedback control, which are all essential for the successful design and development of mechatronic systems.

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Manufacturing Engineer

Manufacturing Engineers design and develop processes and systems for the production of goods. This course may be useful for Manufacturing Engineers who wish to gain a deeper understanding of robot manipulation and wheeled mobile robots. The course covers topics such as the kinematics and dynamics of robot manipulators, path planning, and feedback control, which are all essential for the successful design and development of automated manufacturing systems.

See salaries and explore the career path for Manufacturing Engineer

Electrical Engineer

Electrical Engineers design and develop electrical systems and components. This course may be useful for Electrical Engineers who wish to gain a deeper understanding of robot manipulation and wheeled mobile robots. The course covers topics such as the kinematics and dynamics of robot manipulators, path planning, and feedback control, which are all essential for the successful design and development of electrical systems for robots.

See salaries and explore the career path for Electrical Engineer

Computer Engineer

Computer Engineers design and develop computer systems and software. This course may be useful for Computer Engineers who wish to gain a deeper understanding of robot manipulation and wheeled mobile robots. The course covers topics such as the kinematics and dynamics of robot manipulators, path planning, and feedback control, which are all essential for the successful design and development of software for robots.

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Project Manager

Project Managers plan and execute projects. This course may be useful for Project Managers who wish to gain a deeper understanding of robot manipulation and wheeled mobile robots. The course covers topics such as the kinematics and dynamics of robot manipulators, path planning, and feedback control, which are all essential for the successful planning and execution of projects that involve robots.

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Robotics Technician

Robotics Technicians install, maintain, and repair robots used in a variety of industries, including manufacturing, healthcare, and defense. This course may be useful for Robotics Technicians who wish to gain a deeper understanding of robot manipulation and wheeled mobile robots. The course covers topics such as the kinematics and dynamics of robot manipulators, path planning, and feedback control, which are all essential for the successful operation and maintenance of robots.

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Technical Writer

Technical Writers create documentation for technical products and systems. This course may be useful for Technical Writers who wish to gain a deeper understanding of robot manipulation and wheeled mobile robots. The course covers topics such as the kinematics and dynamics of robot manipulators, path planning, and feedback control, which are all essential for the successful creation of documentation for robots.

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Science Teacher

Science Teachers teach science to students at the K-12 level. This course may be useful for Science Teachers who wish to gain a deeper understanding of robot manipulation and wheeled mobile robots. The course covers topics such as the kinematics and dynamics of robot manipulators, path planning, and feedback control, which are all essential for the successful teaching of robotics to students.

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