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컨텐츠 내용
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과정정보
Introduction to Robotics
강좌소개
The purpose of this course is to introduce you to basics of modeling, design, planning, and control of robot systems. In essence, the material treated in this course is a brief survey of relevant results from geometry, kinematics, statics, dynamics, and control.
The course is presented in a standard format of lectures, readings and problem sets. Lectures will be based mainly, but not exclusively, on material in the Lecture Notes. Lectures will follow roughly the same sequence as the material presented in the notes, so it can be read in anticipation of the lectures.
Topics: robotics foundations in kinematics, dynamics, control, motion planning, trajectory generation, programming and design.
[Source: Stanford Engineering Everywhere / License: CC-BY-NC-SA]
The course is presented in a standard format of lectures, readings and problem sets. Lectures will be based mainly, but not exclusively, on material in the Lecture Notes. Lectures will follow roughly the same sequence as the material presented in the notes, so it can be read in anticipation of the lectures.
Topics: robotics foundations in kinematics, dynamics, control, motion planning, trajectory generation, programming and design.
[Source: Stanford Engineering Everywhere / License: CC-BY-NC-SA]
수료/과락 기준
| 평가기준 | 진도 | 시험 | 과제 | 토론 | 기타 |
|---|---|---|---|---|---|
| 배점 | 100% | 0% | 0% | 0% | 0% |
| 과락기준 | 80% | 0점 | 0점 | 0점 | 0점 |
※ 수료기준은 각 평가항목의 점수가 과락기준 점수 이상이고 총점이 80점 이상이어야 합니다.
Mark Kwon
| [강사소개] |
|
| [경력] |
| 차시 | 강의명 |
|---|---|
| 1차시 | Course Overview |
| 2차시 | Spatial Descriptions |
| 3차시 | Homogeneous Transform Interpretations |
| 4차시 | Manipulator Kinematics |
| 5차시 | Summary - Frame Attachment |
| 6차시 | Instantaneous Kinematics |
| 7차시 | Jacobian - Explicit Form |
| 8차시 | Scheinman Arm - Demo |
| 9차시 | Intro - Guest Lecturer: Gregory Hager |
| 10차시 | Guest Lecturer: Krasimir Kolarov |
| 11차시 | Joint Space Dynamics |
| 12차시 | Lagrange Equations |
| 13차시 | Control - Overview |
| 14차시 | PD Control |
| 15차시 | Manipulator Control |
| 16차시 | Compliance |
