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--- cin9085 [2022/09/12 06:48]
hyubiorobotics
+++ cin9085 [2023/01/09 09:50]
@@ 줄 1: / 줄 1: @@
-Modern Robotics
->[ 1st Lecture | https://youtu.be/N7b_WMB6bVs ]
->> 1. Preview
->>> {{ pdf:mr_2020-1_-ln1-1.pdf | PDF }}
->[ 2nd Lecture | https://youtu.be/nMfr-AZ2A0k ]
->> 2.1 Degrees of Freedom of a Rigid Body
->> 2.2 Degrees of Freedom of a Robot
->>> {{ pdf:mr_2020-1_-ln1-2.pdf | PDF }}
->[ 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
->>> {{ pdf:mr_2020-1_-ln1-3.pdf | PDF }}
->[ 4th Lecture | https://youtu.be/vcgXTtiHSQs ]
->> 3.1 Rigid-Body Motions in the Plane
->>> {{ pdf:mr_2020-1_-ln2-1.pdf | PDF }}
->[ 5th Lecture | https://youtu.be/6CB86MF2lAU ]
->> 3.2 Rotations and Angular Velocities
->>> {{ pdf:mr_2020-1_-ln2-2.pdf | PDF }}
->[ 6th Lecture | https://youtu.be/fe1UFzkzMos ]
->> 3.2 Rotations and Angular Velocities (2nd)
->>> {{ pdf:mr_2020-1_-ln2-3.pdf | PDF }}
->[ 7th Lecture | https://youtu.be/H4PAzTmJUh8 ]
->> 3.3 Rigid-Body Motions and Twists
->>> {{ pdf:mr_2020-1_-ln3-1.pdf | PDF }}
->[ 8th Lecture | https://youtu.be/fxYWyyGuc70 ]
->> 3.3 Rigid-Body Motions and Twists (2nd)
->>> {{ pdf:mr_2020-1_-ln3-2.pdf | PDF }}
->[ 9th Lecture | https://youtu.be/dfOBLeKswIs ]
->> 3.3 Rigid-Body Motions and Twists (3rd)
->> 3.4 Wrenches
->>> {{ pdf:mr_2020-1_-ln3-3.pdf | PDF }}
->[ 10th Lecture | https://youtu.be/iixtEl7sNlY ]
->> 4.1 Product of Exponentials (PoE) Formula
->>> {{ pdf:mr_2020-1_-ln4-1.pdf | PDF }}
->[ 11th Lecture | https://youtu.be/5hTOnnMm66c ]
->> 4.1 Product of Exponentials (PoE) Formula (2nd)
->>> {{ pdf:mr_2020-1_-ln4-2.pdf | PDF }}
->[ 12th Lecture | https://youtu.be/7ChkkefGSQY ]
->> 5.0 Velocity Kinematics and Statics
->>> {{ pdf:mr_2020-1_-ln6-1.pdf | PDF }}
->[ 13th Lecture | https://youtu.be/KcD6xU8QHEE ]
->> 5.1 Manipulator Jacobian
->>> {{ pdf:mr_2020-1_-ln6-2.pdf | PDF }}
->[ 14th Lecture | https://youtu.be/evgLBxwfnJ8 ]
->> 5.2 Statics of Open Chains
->> 5.3 Singularity Analysis
->> 5.4 Manipulability
->>> {{ pdf:mr_2020-1_-ln6-3.pdf | PDF }}
->[ 15th Lecture | https://youtu.be/oJMvjMqNBeU ]
->> 6.1 Analytic Inverse Kinematics
->>> {{ pdf:mr_2020-1_-ln7-1.pdf | PDF }}
->[ 16th Lecture | https://youtu.be/EBFReAu2bnM ]
->> 6.2 Numerical Inverse Kinematics
->> 6.3 Inverse Velocity Kinematics
->>> {{ pdf:mr_2020-1_-ln7-2.pdf | PDF }}
->[ 17th Lecture | https://youtu.be/FWDi8ljL6qc ]
->> 7.1 Inverse and Forward Kinematics (IK and FK)
->>> {{ pdf:mr_2020-1_-ln10-1.pdf | PDF }}
->[ 18th Lecture | https://youtu.be/0PRDL8FrQPc ]
->> 7.2 Differential Kinematics
->>> {{ pdf:mr_2020-1_-ln10-2.pdf | PDF }}
->[ 19th Lecture | https://youtu.be/shlOQeW-CpY ]
->> 7.3 Singularities
->>> {{ pdf:mr_2020-1_-ln10-3.pdf | PDF }}
->[ 20th Lecture | https://youtu.be/q9eAOV68rjY ]
->> 7.4 Exercise Solving
->>> {{ pdf:mr_2020-1_-ln11-1.pdf | PDF }}
->[ 21st Lecture | https://youtu.be/MP5rebiOv48 ]
->> 8.1 Lagrangian Formulation
->>> {{ pdf:mr_2020-1_-ln11-2.pdf | PDF }}
->[ 22nd Lecture | https://youtu.be/5QAuEbcBCNk ]
->> 8.2 Dynamics of a Single Rigid Body
->>> {{ pdf:mr_2020-1_-ln12-1.pdf | PDF }}
->[ 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
->>> {{ pdf:mr_2020-1_-ln12-2.pdf | PDF }}
->[ 24th Lecture | https://youtu.be/g_VXdRa2Uhg ]
->> 11.1 Control System Overview
->> 11.2 Error Dynamics
->>> {{ pdf:mr_2020-1_-ln13-1.pdf | PDF }}
->[ 25th Lecture | https://youtu.be/PAXDQKTcpoo ]
->> 11.3 Motion Control with Velocity Inputs
->>> {{ pdf:mr_2020-1_-ln13-2.pdf | PDF }}
->[ 26th Lecture | https://youtu.be/susdjXK2h_s ]
->> 11.4 Motion Control with Torque or Force Inputs
->>> {{ pdf:mr_2020-1_-ln14-1.pdf | PDF }}
->[ 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
->>> {{ pdf:mr_2020-1_-ln14-2.pdf | PDF }}
-> 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 }}