Modern Robotics (in English)

>[ 1st Lecture | https://youtu.be/N7b_WMB6bVs ]  
>> 1. Preview
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>[ 2nd Lecture | https://youtu.be/nMfr-AZ2A0k ] 
>> 2.1 Degrees of Freedom of a Rigid Body 
>> 2.2 Degrees of Freedom of a Robot
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>[ 3rd Lecture | https://youtu.be/aCbS4fJAYQ0 ] 
>> 2.3 Configuration Space: Topology and Representation
>> 2.4 Configuration and Velocity Constraints
>> 2.5 Task Space and Workspace
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>[ 4th Lecture | https://youtu.be/vcgXTtiHSQs ] 
>> 3.1 Rigid-Body Motions in the Plane
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>[ 5th Lecture | https://youtu.be/6CB86MF2lAU ] 
>> 3.2 Rotations and Angular Velocities
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>[ 6th Lecture | https://youtu.be/fe1UFzkzMos ] 
>> 3.2 Rotations and Angular Velocities (2nd)
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>[ 7th Lecture | https://youtu.be/H4PAzTmJUh8 ] 
>> 3.3 Rigid-Body Motions and Twists
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>[ 8th Lecture | https://youtu.be/fxYWyyGuc70 ] 
>> 3.3 Rigid-Body Motions and Twists (2nd)
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>[ 9th Lecture | https://youtu.be/dfOBLeKswIs ] 
>> 3.3 Rigid-Body Motions and Twists (3rd)
>> 3.4 Wrenches
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>[ 10th Lecture | https://youtu.be/iixtEl7sNlY ] 
>> 4.1 Product of Exponentials (PoE) Formula
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>[ 11th Lecture | https://youtu.be/5hTOnnMm66c ] 
>> 4.1 Product of Exponentials (PoE) Formula (2nd)
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>[ 12th Lecture | https://youtu.be/7ChkkefGSQY ] 
>> 5.0 Velocity Kinematics and Statics 
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>[ 13th Lecture | https://youtu.be/KcD6xU8QHEE ] 
>> 5.1 Manipulator Jacobian 
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>[ 14th Lecture | https://youtu.be/evgLBxwfnJ8 ] 
>> 5.2 Statics of Open Chains
>> 5.3 Singularity Analysis
>> 5.4 Manipulability
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>[ 15th Lecture | https://youtu.be/oJMvjMqNBeU ] 
>> 6.1 Analytic Inverse Kinematics
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>[ 16th Lecture | https://youtu.be/EBFReAu2bnM ] 
>> 6.2 Numerical Inverse Kinematics
>> 6.3 Inverse Velocity Kinematics
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>[ 17th Lecture | https://youtu.be/FWDi8ljL6qc ] 
>> 7.1 Inverse and Forward Kinematics (IK and FK)
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>[ 18th Lecture | https://youtu.be/0PRDL8FrQPc ] 
>> 7.2 Differential Kinematics
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>[ 19th Lecture | https://youtu.be/shlOQeW-CpY ] 
>> 7.3 Singularities
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>[ 20th Lecture | https://youtu.be/q9eAOV68rjY ] 
>> 7.4 Exercise Solving
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>[ 21st Lecture | https://youtu.be/MP5rebiOv48 ] 
>> 8.1 Lagrangian Formulation
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>[ 22nd Lecture | https://youtu.be/5QAuEbcBCNk ] 
>> 8.2 Dynamics of a Single Rigid Body
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>[ 23rd Lecture | https://youtu.be/6youl8FFPG4 ] 
>> 8.3 Newton-Euler Inverse Dynamics
>> 8.4 Dynamic Equations in Closed Form
>> 8.5 Forward Dynamics of Open Chain
>> 8.6 Dynamics in the Task Space
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>[ 24th Lecture | https://youtu.be/g_VXdRa2Uhg ] 
>> 11.1 Control System Overview
>> 11.2 Error Dynamics
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>[ 25th Lecture | https://youtu.be/PAXDQKTcpoo ] 
>> 11.3 Motion Control with Velocity Inputs
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>[ 26th Lecture | https://youtu.be/susdjXK2h_s ] 
>> 11.4 Motion Control with Torque or Force Inputs
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>[ 27th Lecture | https://youtu.be/wLNMSpEBSnQ ] 
>> 11.5 Force Control
>> 11.6 Hybrid Motion-Force Control
>> 11.7 Impedance Control
>> 11.8 Low-Level Joint Force/Torque Control
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> 중간고사 문제지와 답안지
>> {{ pdf:mr_2020-1_-ln9-midterm.pdf | PDF }}
>> {{ pdf:mr_2020-1_-ln9-midterm-sol.pdf | PDF }}

> 기말고사 문제지와 답안지
>> {{ pdf:mr_finalexam_2020-1_.pdf | PDF }}
>> {{ pdf:mr_solutionfinalexam_2020-1_-rev.pdf | PDF }}