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Kevin Lynch

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.

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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.

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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.
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챕터 13: 차륜형 이동 로봇(파트 1/2)
전방향 및 비홀로노믹 차륜형 이동 로봇의 운동학적 모델
챕터 13: 차륜형 이동 로봇(파트 2/2)
비홀로노믹 차륜형 이동 로봇의 가제어성, 운동 계획 및 피드백 제어, 차륜형 이동 로봇의 주행거리계와 모바일 매니퓰레이션.

Good to know

Know what's good
, what to watch for
, 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

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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
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
Show steps
  • 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
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
Show steps
  • 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
Python is a widely used programming language in robotics. Improve your Python skills with focused practice on robotics-related problems.
Browse courses on Python
Show steps
  • 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
Expand to see all activities and additional details
Show all nine activities
Drills on Matrix Differentiation
Matrix differentiation is an important skill in robotics. Improve your comfort level, accuracy, and speed through repeated drills.
Browse courses on Linear Algebra
Show steps
  • 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
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
Show steps
  • Follow the official Gazebo tutorials
  • Create a simple mobile robot model and simulate it in Gazebo
Attend a Robotics Meetup
Networking with other people in the field of robotics can help you learn about new technologies, career opportunities, and research findings.
Show steps
  • Find a robotics meetup in your area
  • Attend the meetup and introduce yourself to other attendees
Mobile Robot Kinematics Mini-Project
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
Show steps
  • 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
Gain practical experience with robotics and open source by contributing to a real-world project like ROS.
Browse courses on Open Source
Show steps
  • 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
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.
Show steps
  • 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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.

Reading list

We've selected six books that we think will supplement your learning. Use these to develop background knowledge, enrich your coursework, and gain a deeper understanding of the topics covered in 현대 로봇공학, 강좌 5: 로봇 매니퓰레이션 및 차륜형 이동 로봇.
This textbook is the basis for the course. It provides a thorough introduction to the fundamentals of robotics, including kinematics, dynamics, control, and planning.
This textbook provides a comprehensive treatment of the theory and practice of robot modeling and control. It valuable resource for students and researchers in robotics.
This textbook provides a comprehensive overview of planning algorithms, including topics such as path planning, motion planning, and task planning. It valuable resource for students and researchers in robotics.
This textbook provides a comprehensive overview of the field of robotics, covering topics such as kinematics, dynamics, control, and planning. It valuable resource for students and researchers in robotics.
This textbook provides a comprehensive overview of the field of robotics, covering topics such as kinematics, dynamics, control, and planning. It valuable resource for students and researchers in robotics.
This textbook provides a comprehensive overview of the field of robotics, covering topics such as kinematics, dynamics, control, and planning. It valuable resource for students and researchers in robotics.

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