현대 로봇공학, 강좌 3: 로봇 동역학 from Coursera

로봇이 어떻게 작동하는지 궁금하십니까? 로봇공학 분야의 직업에 관심이 있으십니까? 로봇공학의 모든 하위 분야에서 사용되는 기초적인 수학적 모델링 기법을 배우고 싶으신가요

그렇다면, ‘현대 로봇공학: 역학, 계획 및 제어(Modern Robotics: Mechanics, Planning, and Control)’ 전문 과정이 여러분께 도움을 드릴 수 있습니다.본 전문 과정은 여섯 개의 짧은 강의로 이루어져 있으며, 로봇공학 분야에서 일하기를 진지하게 고민하고 있거나 심화 연구를 수행하려는 학생들에게 적합합니다.단순한 기초 모음집이 아닙니다.

전문 과정의 3번째 강좌인 로봇 동역학에서는 정동역학(로봇의 구성, 속도, 관절 힘과 토크가 주어졌을 때 가속도 계산)과 역동역학(로봇의 구성, 속도, 가속도가 주어졌을 때 필요한 관절 힘과 토크 계산)을 위한 효율적인 수치 알고리즘을 배우게 되는데, 전자는 시뮬레이션에 유용하며, 후자는 로봇 제어에 사용됩니다. 동역학 제약에 따른 로봇 궤적 계획 방법에 대해서도 알아볼 것입니다.

본 강의는 Lynch and Park의 Mechanics, Planning, and Control’(Cambridge University Press 2017) 교재를 기반으로 제작되었습니다.교재는 구매하시거나 무료 pdf 견본을 사용하실 수 있습니다.여러분이 원하는 언어(파이썬, Mathematica, 및 MATLAB)를 선택하여 로봇공학 소프트웨어의 라이브러리를 구축하실 수 있습니다. 또한 무료 크로스 플랫폼 로봇 시뮬레이터 V-REP를 사용하여 집에서도 최첨단 로봇공학 작업을 손쉽게 무료로 수행할 수 있습니다.

What's inside

Syllabus

챕터 8: 개방형 체인의 동역학(파트 1/2)

동역학의 라그랑주 공식, 구심 및 코리올리 힘, 로봇 질량 행렬, 강체의 동역학, 그리고 개방형 로봇에 대한 뉴턴-오일러 역동역학

챕터 8: 개방형 체인의 동역학(파트 2/2)

개방형 체인의 정동역학, 작업 영역 동역학, 제약이 있는 동역학, 그리고 기어링 및 마찰에 따른 실질적인 영향.

챕터 9: 궤적 생성(파트 1/2)

점대점 ‘직선’ 궤적 및 경유점을 지나는 다항식 궤적

챕터 9: 궤적 생성(파트 2/2)

로봇 동역학 및 구동기 제한에 따라 지정된 경로 상의 최적 시간 동작

Good to know

Know what's good

, what to watch for

, and possible dealbreakers

Explores modern robotics methods, which is standard in the robotics industry

Develops core skills in mechanics, planning, and control, which are used in robotics engineering

Taught by Kevin Lynch, renowned robotics professor at Stanford University

Students can choose their preferred programming language (Python, Mathematica, or MATLAB)

Utilizes V-REP, a free and cross-platform robot simulator, enabling hands-on practice

May require access to additional software or resources not readily available in some households or libraries

Career center

Learners who complete 현대 로봇공학, 강좌 3: 로봇 동역학 will develop knowledge and skills that may be useful to these careers:

Mechatronics Engineer

Mechatronics Engineers combine mechanical, electrical, and computer engineering disciplines to design, build, and maintain mechatronic systems, such as robots and other automated machines. This Modern Robotics course can be very helpful in building a foundation and providing the mathematical modeling techniques used in Mechatronics Engineering. Understanding robot dynamics is critical for your work in this field.

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Biomedical Engineer

As a Biomedical Engineer, your responsibilities will include applying engineering principles to the biology and medicine fields, with the goal of creating solutions to improve healthcare and medical diagnostics. This Modern Robotics course can be very helpful in building a foundation and providing the mathematical modeling techniques used in Biomedical Engineering. Understanding robot dynamics can help you develop medical devices, prosthetics, and other medical equipment and systems.

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Robotics Engineer

Robotics Engineers integrate mechanical, electrical, and computer engineering disciplines to design, construct, operate, and maintain robots. This Modern Robotics course may be useful for developing the analytical skills you need to contribute to the design and analysis of different kinds of robots, autonomous systems, and robotic components.

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Automotive Engineer

Automotive Engineers work to research, design, and develop new vehicles, as well as vehicle systems and components. This Modern Robotics course may be useful for understanding the dynamics involved in autonomous vehicles and other aspects of vehicle design.

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Aerospace Engineer

Aerospace Engineers design, develop, test, and maintain aircraft, spacecraft, satellites, and missiles. This Modern Robotics course may be useful for understanding the dynamics involved in aerospace robotics and spacecraft.

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Mechanical Engineer

Mechanical Engineers design, build, and maintain machines, as well as thermal and mechanical systems. This Modern Robotics course may be useful for developing the analytical skills you need to contribute to the design and analysis of different kinds of machines and systems.

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Manufacturing Engineer

Manufacturing Engineers improve production processes in order to create higher quality products in a more efficient manner. This Modern Robotics course may be useful in analyzing and streamlining production processes, such as in robotics-based manufacturing.

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Materials Scientist

Materials Scientists research and develop new materials, as well as investigate the properties of existing materials. This Modern Robotics course may be useful for understanding the material properties of robots and their components.

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Systems Engineer

Systems Engineers design, develop, and maintain complex systems, such as those found in aerospace, defense, and telecommunications. This Modern Robotics course may be useful for developing the analytical skills you need to contribute to the design and analysis of different kinds of systems.

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Electrical Engineer

Electrical Engineers design, develop, test, and maintain electrical systems, as well as electrical and electronic components. This Modern Robotics course may be useful for developing the analytical skills you need to contribute to the design and analysis of different kinds of electrical systems.

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Computer Engineer

Computer Engineers design, develop, test, and maintain computer systems, as well as computer and software components. This Modern Robotics course may be useful for developing the analytical skills you need to contribute to the design and analysis of different kinds of computer systems.

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Software Engineer

Software Engineers design, develop, test, and maintain software systems, as well as software and application components. This Modern Robotics course may be useful in developing the modeling techniques you need to contribute to the design and analysis of different kinds of software systems, as software is used in many robotics applications.

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Data Scientist

Data Scientists collect, analyze, and interpret large amounts of data in order to extract meaningful insights. This Modern Robotics course may be useful for developing the analytical skills you need to contribute to the analysis and interpretation of data in the robotics field.

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Operations Research Analyst

Operations Research Analysts use mathematical and analytical techniques to solve complex problems in a variety of industries, including manufacturing, logistics, and healthcare. This Modern Robotics course may be useful for developing the analytical skills you need to contribute to the analysis and solution of problems in the robotics field.

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Financial Analyst

Financial Analysts use mathematical and analytical techniques to evaluate and make recommendations on investments. This Modern Robotics course may be useful for developing the analytical skills you need to contribute to the analysis and evaluation of investments in the robotics field.

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