HYU Biorobotics

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
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기말고사 문제지와 답안지
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