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edX Robotics: Kinematics and Mathematical Foundations

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
    Welcome to the first course in the Robotics MicroMasters series. This is an advanced course designed for learners who have a bachelor's degree in engineering or a similar field.

    Learners will succeed in this course if they have familiarity with basic operations on matrices and vectors, as well as exposure to derivatives and partial derivatives.

    The fundamental challenge this course addresses is how one can create robots that operate well in the real world.

    What you'll learn
    • How to describe, analyze and think critically about fundamental problems in robotics, such as how to change the position or configuration of a robot
    • The role of mathematics in describing robotic arms, mobile robots and other robotic platforms
    • How to use the industry standard programming environment, MATLAB
    Math Fundamentals
    Week 1: Vector spaces, inner products, vector norms, orthogonality
    Week 2: Linear transformations, matrix multiplication, matrix groups
    Week 3: Coordinate transformations, rigid transformations, rotation matrices quaternions, Matrix groups SE(2) and SE(3)
    Week 4: Project

    Robot Kinematics
    Week 5: Kinematic chains, forward kinematics,
    Week 6: Inverse kinematics
    Week 7: Parallel mechanisms
    Week 8: Project

    Kinematic Path Planning
    Week 9: Graph based methods, Dijkstra’s method, A*Star
    Week 10: RRT, configuration space
    Week 11: Artificial potential fields
    Week 12: Project

    Taught by
    Camillo J. Taylor and Mark Yim

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