cin9085
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양쪽 이전 판이전 판다음 판 | 이전 판양쪽 다음 판 | ||
cin9085 [2022/09/08 08:53] hyubiorobotics | cin9085 [2023/01/09 09:50] (현재) | ||
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줄 1: | 줄 1: | ||
- | Modern Robotics | + | Modern Robotics |
- | Under construction | + | >[ 1st Lecture | https:// |
+ | >> 1. Preview | ||
+ | >>> | ||
- | [ 1st Lecture | https:// | + | >[ 2nd Lecture | https:// |
+ | >> 2.1 Degrees of Freedom of a Rigid Body | ||
+ | >> 2.2 Degrees of Freedom of a Robot | ||
+ | >>> | ||
- | > {{ pdf:cse_2020-2_-ln1-1-syllabus.pdf | Syllabus | + | >[ 3rd Lecture | https:// |
- | > X Frequency Responses | + | >> 2.3 Configuration Space: Topology and Representation |
- | >> {{ pdf:cse_2020-2_-ln1-2.pdf | PDF }} | + | >> 2.4 Configuration and Velocity Constraints |
+ | >> 2.5 Task Space and Workspace | ||
+ | >>> {{ pdf:mr_2020-1_-ln1-3.pdf | PDF }} | ||
+ | |||
+ | >[ 4th Lecture | https:// | ||
+ | >> 3.1 Rigid-Body Motions in the Plane | ||
+ | >>> | ||
+ | |||
+ | >[ 5th Lecture | https:// | ||
+ | >> 3.2 Rotations and Angular Velocities | ||
+ | >>> {{ pdf:mr_2020-1_-ln2-2.pdf | PDF }} | ||
+ | |||
+ | >[ 6th Lecture | https:// | ||
+ | >> 3.2 Rotations and Angular Velocities (2nd) | ||
+ | >>> | ||
+ | |||
+ | >[ 7th Lecture | https:// | ||
+ | >> 3.3 Rigid-Body Motions and Twists | ||
+ | >>> | ||
+ | |||
+ | >[ 8th Lecture | https:// | ||
+ | >> 3.3 Rigid-Body Motions and Twists (2nd) | ||
+ | >>> | ||
+ | |||
+ | >[ 9th Lecture | https:// | ||
+ | >> 3.3 Rigid-Body Motions and Twists (3rd) | ||
+ | >> 3.4 Wrenches | ||
+ | >>> | ||
+ | |||
+ | >[ 10th Lecture | https:// | ||
+ | >> 4.1 Product of Exponentials (PoE) Formula | ||
+ | >>> | ||
+ | |||
+ | >[ 11th Lecture | https:// | ||
+ | >> 4.1 Product of Exponentials (PoE) Formula (2nd) | ||
+ | >>> | ||
+ | |||
+ | >[ 12th Lecture | https:// | ||
+ | >> 5.0 Velocity Kinematics and Statics | ||
+ | >>> | ||
+ | |||
+ | >[ 13th Lecture | https:// | ||
+ | >> 5.1 Manipulator Jacobian | ||
+ | >>> | ||
+ | |||
+ | >[ 14th Lecture | https:// | ||
+ | >> 5.2 Statics of Open Chains | ||
+ | >> 5.3 Singularity Analysis | ||
+ | >> 5.4 Manipulability | ||
+ | >>> | ||
+ | |||
+ | >[ 15th Lecture | https:// | ||
+ | >> 6.1 Analytic Inverse Kinematics | ||
+ | >>> | ||
+ | |||
+ | >[ 16th Lecture | https:// | ||
+ | >> 6.2 Numerical Inverse Kinematics | ||
+ | >> 6.3 Inverse Velocity Kinematics | ||
+ | >>> | ||
+ | |||
+ | >[ 17th Lecture | https:// | ||
+ | >> 7.1 Inverse and Forward Kinematics (IK and FK) | ||
+ | >>> | ||
+ | |||
+ | >[ 18th Lecture | https:// | ||
+ | >> 7.2 Differential Kinematics | ||
+ | >>> | ||
+ | |||
+ | >[ 19th Lecture | https:// | ||
+ | >> 7.3 Singularities | ||
+ | >>> | ||
+ | |||
+ | >[ 20th Lecture | https:// | ||
+ | >> 7.4 Exercise Solving | ||
+ | >>> | ||
+ | |||
+ | >[ 21st Lecture | https:// | ||
+ | >> 8.1 Lagrangian Formulation | ||
+ | >>> | ||
+ | |||
+ | >[ 22nd Lecture | https:// | ||
+ | >> 8.2 Dynamics of a Single Rigid Body | ||
+ | >>> | ||
+ | |||
+ | >[ 23rd Lecture | https:// | ||
+ | >> 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 | ||
+ | >>> | ||
+ | |||
+ | >[ 24th Lecture | https:// | ||
+ | >> 11.1 Control System Overview | ||
+ | >> 11.2 Error Dynamics | ||
+ | >>> | ||
+ | |||
+ | >[ 25th Lecture | https:// | ||
+ | >> 11.3 Motion Control with Velocity Inputs | ||
+ | >>> | ||
+ | |||
+ | >[ 26th Lecture | https:// | ||
+ | >> 11.4 Motion Control with Torque or Force Inputs | ||
+ | >>> | ||
+ | |||
+ | >[ 27th Lecture | https:// | ||
+ | >> 11.5 Force Control | ||
+ | >> 11.6 Hybrid Motion-Force Control | ||
+ | >> 11.7 Impedance Control | ||
+ | >> 11.8 Low-Level Joint Force/ | ||
+ | >>> | ||
+ | |||
+ | > 중간고사 문제지와 답안지 | ||
+ | >> {{ pdf: | ||
+ | >> {{ pdf: | ||
+ | |||
+ | > 기말고사 문제지와 답안지 | ||
+ | >> {{ pdf: | ||
+ | >> {{ pdf: |
cin9085.txt · 마지막으로 수정됨: 2023/01/09 09:50 (바깥 편집)