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--- cin9085 [2022/09/09 06:45]
hyubiorobotics
+++ cin9085 [2023/01/09 09:50] (현재)
@@ 줄 1: / 줄 1: @@
-Modern Robotics
+Modern Robotics (in English)
-Under construction
+>[ 1st Lecture | https://youtu.be/N7b_WMB6bVs ]
+>> 1. Preview
+>>> {{ pdf:mr_2020-1_-ln1-1.pdf | PDF }}
-[ 1st Lecture | https://youtu.be/N7b_WMB6bVs ]
+>[ 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 }}
-> Syllabus
+>[ 3rd Lecture | https://youtu.be/aCbS4fJAYQ0 ]
-> 1. Preview
+>> 2.3 Configuration Space: Topology and Representation
->> {{ pdf:mr_2020-1_-ln1-1.pdf | PDF }}
+>> 2.4 Configuration and Velocity Constraints
+>> 2.5 Task Space and Workspace
+>>> {{ pdf:mr_2020-1_-ln1-3.pdf | PDF }}
-[ 2nd Lecture | https://youtu.be/nMfr-AZ2A0k ]
+>[ 4th Lecture | https://youtu.be/vcgXTtiHSQs ]
+>> 3.1 Rigid-Body Motions in the Plane
+>>> {{ pdf:mr_2020-1_-ln2-1.pdf | PDF }}
-> 2.1 Degrees of Freedom of a Rigid Body
+>[ 5th Lecture | https://youtu.be/6CB86MF2lAU ]
-> 2.2 Degrees of Freedom of a Robot
+>> 3.2 Rotations and Angular Velocities
+>>> {{ pdf:mr_2020-1_-ln2-2.pdf | PDF }}
->> {{ pdf:mr_2020-1_-ln1-2.pdf | PDF }}
+>[ 6th Lecture | https://youtu.be/fe1UFzkzMos ]
+>> 3.2 Rotations and Angular Velocities (2nd)
+>>> {{ pdf:mr_2020-1_-ln2-3.pdf | PDF }}
-[ 3rd Lecture | https://youtu.be/aCbS4fJAYQ0 ]
+>[ 7th Lecture | https://youtu.be/H4PAzTmJUh8 ]
+>> 3.3 Rigid-Body Motions and Twists
+>>> {{ pdf:mr_2020-1_-ln3-1.pdf | PDF }}
-> 2.3 Configuration Space: Topology and Representation
+>[ 8th Lecture | https://youtu.be/fxYWyyGuc70 ]
-> 2.4 Configuration and Velocity Constraints
+>> 3.3 Rigid-Body Motions and Twists (2nd)
-> 2.5 Task Space and Workspace
+>>> {{ pdf:mr_2020-1_-ln3-2.pdf | PDF }}
->> {{ pdf:mr_2020-1_-ln1-3.pdf | PDF }}
-[ 4th Lecture | https://youtu.be/vcgXTtiHSQs ]
+>[ 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 }}
-> 3.1 Rigid-Body Motions in the Plane
+>[ 10th Lecture | https://youtu.be/iixtEl7sNlY ]
->> {{ pdf:mr_2020-1_-ln2-1.pdf | PDF }}
+>> 4.1 Product of Exponentials (PoE) Formula
+>>> {{ pdf:mr_2020-1_-ln4-1.pdf | PDF }}
-[ 5th Lecture | https://youtu.be/6CB86MF2lAU ]
+>[ 11th Lecture | https://youtu.be/5hTOnnMm66c ]
+>> 4.1 Product of Exponentials (PoE) Formula (2nd)
+>>> {{ pdf:mr_2020-1_-ln4-2.pdf | PDF }}
-> 3.2 Rotations and Angular Velocities
+>[ 12th Lecture | https://youtu.be/7ChkkefGSQY ]
->> {{ pdf:mr_2020-1_-ln2-2.pdf | PDF }}
+>> 5.0 Velocity Kinematics and Statics
+>>> {{ pdf:mr_2020-1_-ln6-1.pdf | PDF }}
-[ 6th Lecture | https://youtu.be/fe1UFzkzMos ]
+>[ 13th Lecture | https://youtu.be/KcD6xU8QHEE ]
+>> 5.1 Manipulator Jacobian
+>>> {{ pdf:mr_2020-1_-ln6-2.pdf | PDF }}
-> 3.2 Rotations and Angular Velocities (2nd)
+>[ 14th Lecture | https://youtu.be/evgLBxwfnJ8 ]
->> {{ pdf:mr_2020-1_-ln2-3.pdf | PDF }}
+>> 5.2 Statics of Open Chains
+>> 5.3 Singularity Analysis
+>> 5.4 Manipulability
+>>> {{ pdf:mr_2020-1_-ln6-3.pdf | PDF }}
-[ 7th Lecture | https://youtu.be/H4PAzTmJUh8 ]
+>[ 15th Lecture | https://youtu.be/oJMvjMqNBeU ]
+>> 6.1 Analytic Inverse Kinematics
+>>> {{ pdf:mr_2020-1_-ln7-1.pdf | PDF }}
-> 3.3 Rigid-Body Motions and Twists
+>[ 16th Lecture | https://youtu.be/EBFReAu2bnM ]
->> {{ pdf:mr_2020-1_-ln3-1.pdf | PDF }}
+>> 6.2 Numerical Inverse Kinematics
+>> 6.3 Inverse Velocity Kinematics
+>>> {{ pdf:mr_2020-1_-ln7-2.pdf | PDF }}
-[ 8th Lecture | https://youtu.be/fxYWyyGuc70 ]
+>[ 17th Lecture | https://youtu.be/FWDi8ljL6qc ]
+>> 7.1 Inverse and Forward Kinematics (IK and FK)
+>>> {{ pdf:mr_2020-1_-ln10-1.pdf | PDF }}
-> 3.3 Rigid-Body Motions and Twists (2nd)
+>[ 18th Lecture | https://youtu.be/0PRDL8FrQPc ]
->> {{ pdf:mr_2020-1_-ln3-2.pdf | PDF }}
+>> 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 }}