About this Course
4.7
61 ratings
17 reviews
Do you want to know how robots work? Are you interested in robotics as a career? Are you willing to invest the effort to learn fundamental mathematical modeling techniques that are used in all subfields of robotics? If so, then the "Modern Robotics: Mechanics, Planning, and Control" specialization may be for you. This specialization, consisting of six short courses, is serious preparation for serious students who hope to work in the field of robotics or to undertake advanced study. It is not a sampler. In Course 1 of the specialization, Foundations of Robot Motion, you will learn fundamental material regarding robot configurations, for both serial robot mechanisms and robots with closed chains. You will learn about configuration space (C-space), degrees of freedom, C-space topology, implicit and explicit representations of configurations, and holonomic and nonholonomic constraints. You will also learn how to represent spatial velocities and forces as twists and wrenches. This material is at the core of the study of anything that moves (e.g., robots). This course follows the textbook "Modern Robotics: Mechanics, Planning, and Control" (Lynch and Park, Cambridge University Press 2017). You can purchase the book or use the free preprint pdf. You will build on a library of robotics software in the language of your choice (among Python, Mathematica, and MATLAB) and use the free cross-platform robot simulator V-REP, which allows you to work with state-of-the-art robots in the comfort of your own home and with zero financial investment....
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Intermediate Level

Intermediate Level

Clock

Approx. 16 hours to complete

Suggested: This course requires 4 weeks of study of approximately 3-5 hours/week....
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English

Subtitles: English...
Globe

100% online courses

Start instantly and learn at your own schedule.
Calendar

Flexible deadlines

Reset deadlines in accordance to your schedule.
Intermediate Level

Intermediate Level

Clock

Approx. 16 hours to complete

Suggested: This course requires 4 weeks of study of approximately 3-5 hours/week....
Comment Dots

English

Subtitles: English...

Syllabus - What you will learn from this course

Week
1
Clock
3 hours to complete

Introduction to Modern Robotics

Introduction to the specialization, the Modern Robotics code library, the V-REP robot simulator, and the lightboard video-generation tool....
Reading
2 videos (Total 2 min), 4 readings
Video2 videos
Introduction to the Lightboard1m
Reading4 readings
Welcome to the Specialization!10m
Modern Robotics (MR) Code Library and Your Programming Language10m
V-REP Robot Simulatorm
(Optional) Chapter 140m
Clock
2 hours to complete

Chapter 2: Configuration Space (Part 1 of 2)

Configuration space and degrees of freedom of rigid bodies and robots....
Reading
3 videos (Total 13 min), 2 readings, 3 quizzes
Video3 videos
Degrees of Freedom of a Rigid Body (Chapter 2 through 2.1)5m
Degrees of Freedom of a Robot (Chapter 2.2)5m
Reading2 readings
Welcome to Course 1, Foundations of Robot Motion10m
Chapter 2 through 2.240m
Quiz3 practice exercises
Lecture Comprehension, Degrees of Freedom of a Rigid Body (Chapter 2 through 2.1)10m
Lecture Comprehension, Degrees of Freedom of a Robot (Chapter 2.2)6m
Chapter 2 through 2.2, Configuration Space50m
Week
2
Clock
2 hours to complete

Chapter 2: Configuration Space (Part 2 of 2)

Configuration space topology and representation; configuration and velocity constraints; task space and workspace....
Reading
4 videos (Total 14 min), 1 reading, 5 quizzes
Video4 videos
Configuration Space Representation (Chapter 2.3.2)3m
Configuration and Velocity Constraints (Chapter 2.4)4m
Task Space and Workspace (Chapter 2.5)1m
Reading1 reading
Chapters 2.3-2.5m
Quiz5 practice exercises
Lecture Comprehension, Configuration Space Topology (Chapter 2.3.1)4m
Lecture Comprehension, Configuration Space Representation (Chapter 2.3.2)4m
Lecture Comprehension, Configuration and Velocity Constraints (Chapter 2.4)8m
Lecture Comprehension, Task Space and Workspace (Chapter 2.5)4m
Chapter 2.3 through 2.5, Configuration Space50m
Week
3
Clock
4 hours to complete

Chapter 3: Rigid-Body Motions (Part 1 of 2)

Rigid-body motions, rotation matrices, angular velocities, and exponential coordinates of rotation....
Reading
6 videos (Total 18 min), 1 reading, 7 quizzes
Video6 videos
Rotation Matrices (Chapter 3.2.1, Part 1 of 2)2m
Rotation Matrices (Chapter 3.2.1, Part 2 of 2)4m
Angular Velocities (Chapter 3.2.2)3m
Exponential Coordinates of Rotation (Chapter 3.2.3, Part 1 of 2)2m
Exponential Coordinates of Rotation (Chapter 3.2.3, Part 2 of 2)3m
Reading1 reading
Chapter 3 through 3.2m
Quiz7 practice exercises
Lecture Comprehension, Introduction to Rigid-Body Motions (Chapter 3 through 3.1)8m
Lecture Comprehension, Rotation Matrices (Chapter 3.2.1, Part 1 of 2)8m
Lecture Comprehension, Rotation Matrices (Chapter 3.2.1, Part 2 of 2)6m
Lecture Comprehension, Angular Velocities (Chapter 3.2.2)12m
Lecture Comprehension, Exponential Coordinates of Rotation (Chapter 3.2.3, Part 1 of 2)6m
Lecture Comprehension, Exponential Coordinates of Rotation (Chapter 3.2.3, Part 2 of 2)6m
Chapter 3 through 3.2, Rigid-Body Motionsm
Week
4
Clock
5 hours to complete

Chapter 3: Rigid-Body Motions (Part 2 of 2)

Homogeneous transformation matrices, twists, screws, exponential coordinates of rigid-body motion, and wrenches....
Reading
5 videos (Total 22 min), 1 reading, 7 quizzes
Video5 videos
Twists (Chapter 3.3.2, Part 1 of 2)4m
Twists (Chapter 3.3.2, Part 2 of 2)2m
Exponential Coordinates of Rigid-Body Motion (Chapter 3.3.3)4m
Wrenches (Chapter 3.4)3m
Reading1 reading
Chapters 3.3 and 3.4m
Quiz6 practice exercises
Lecture Comprehension, Homogeneous Transformation Matrices (Chapter 3 through 3.3.1)8m
Lecture Comprehension, Twists (Chapter 3.3.2, Part 1 of 2)6m
Lecture Comprehension, Twists (Chapter 3.3.2, Part 2 of 2)4m
Lecture Comprehension, Exponential Coordinates of Rigid-Body Motion (Chapter 3.3.3)12m
Lecture Comprehension, Wrenches (Chapter 3.4)4m
Chapters 3.3 and 3.4, Rigid-Body Motionsm
4.7

Top Reviews

By AEAug 20th 2018

An excellent introduction to Screw theory and to Parallel manipulators in general for any one who wants to start developing or working on closed chain robots.

By SKJun 9th 2018

I think building the foundation strong is very much required and the planning of starting it with basic concept of D.O.F could greatly help.

Instructor

Kevin Lynch

Professor
Mechanical Engineering

About Northwestern University

Northwestern University is a private research and teaching university with campuses in Evanston and Chicago, Illinois, and Doha, Qatar. Northwestern combines innovative teaching and pioneering research in a highly collaborative environment that transcends traditional academic boundaries. ...

About the Modern Robotics: Mechanics, Planning, and Control Specialization

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....
Modern Robotics:  Mechanics, Planning, and Control

Frequently Asked Questions

  • Once you enroll for a Certificate, you’ll have access to all videos, quizzes, and programming assignments (if applicable). Peer review assignments can only be submitted and reviewed once your session has begun. If you choose to explore the course without purchasing, you may not be able to access certain assignments.

  • When you enroll in the course, you get access to all of the courses in the Specialization, and you earn a certificate when you complete the work. Your electronic Certificate will be added to your Accomplishments page - from there, you can print your Certificate or add it to your LinkedIn profile. If you only want to read and view the course content, you can audit the course for free.

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