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edX Robotics: Dynamics and Control

University of Pennsylvania via edX

  • Overview
  1. edX
    University of Pennsylvania
    12 weeks
    8 to 10 hours per week
    Paid Certificate Available
    Part of:
    MicroMasters Program: Robotics
    Flying drones or robot manipulators accomplish heavy-duty tasks that deal with considerable forces and torques not covered by a purely robot kinematics framework. Learn how to formulate dynamics problems and design appropriate control laws.

    In this course, part of the Robotics MicroMasters program, you will learn how to develop dynamic models of robot manipulators, mobile robots, and drones (quadrotors), and how to design intelligent controls for robotic systems that can grasp and manipulate objects.

    We will cover robot dynamics, trajectory generation, motion planning, and nonlinear control, and develop real-time planning and control software modules for robotic systems. This course will give you the basic theoretical tools and enable you to design control algorithms.

    Using MATLAB, you will apply what you have learned through a series of projects involving real-world robotic systems.

    What you'll learn
    • The dynamics of robot arms, mobile robots and quadrotors
    • Position and force control for robots
    • How to generate complex trajectories
    • The basics of configuration spaces for robotic systems
    • Controller synthesis and stability
    Week 1: Introduction and Course Overview
    Week 2: Rigid Body Dynamics
    Week 3: Dynamics of Robot Arms
    Week 4: Project #1: Modeling of a Robot Arm
    Week 5: Introduction to Linear Control
    Week 6: State Space Modeling and Multivariable Systems
    Week 7: Nonlinear Control
    Week 8: Stability Theory
    Week 9: Project #2: Control and Trajectory Following for a Mobile Robot
    Week 10: Quadrotor Control
    Week 11: Trajectory Generation
    Week 12: Project #3: Planning and Control of a Quadrotor

    Taught by
    Vijay Kumar

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