Robotics: Dynamics and Control
list 12个序列
assignment 等级:高级
chat_bubble_outline 语言:英语
card_giftcard 1,344分


credit_card 免费进入
verified_user 收费证书
timer 96小时总数


Flying drones or robot manipulators accomplish heavy-duty tasks that deal with considerable forces and torques not covered by a purely robot kinematics framework. Learn how to formulate dynamics problems and design appropriate control laws.

In this course, part of the Robotics MicroMasters program, you will learn how to develop dynamic models of robot manipulators, mobile robots, and drones (quadrotors), and how to design intelligent controls for robotic systems that can grasp and manipulate objects.

We will cover robot dynamics, trajectory generation, motion planning, and nonlinear control, and develop real-time planning and control software modules for robotic systems. This course will give you the basic theoretical tools and enable you to design control algorithms.

Using MATLAB, you will apply what you have learned through a series of projects involving real-world robotic systems.

  • The dynamics of robot arms, mobile robots and quadrotors
  • Position and force control for robots
  • How to generate complex trajectories
  • The basics of configuration spaces for robotic systems
  • Controller synthesis and stability

more_horiz 查看更多
more_horiz 收起


Good working knowledge of the following undergraduate subjects is required:

  • Linear algebra
  • Rigid body dynamics
  • Multivariable calculus
  • Ordinary differential equations

The knowledge of basic computer science data structures such as graphs, link lists, etc. is preferred, but students may also choose to learn these skills on their own. The class projects will also require knowledge of MATLAB and programming in C or C++.



Week 1: Introduction and Course Overview
Week 2: Rigid Body Dynamics
Week 3: Dynamics of Robot Arms
Week 4: Project #1: Modeling of a Robot Arm
Week 5: Introduction to Linear Control
Week 6: State Space Modeling and Multivariable Systems
Week 7: Nonlinear Control
Week 8: Stability Theory
Week 9: Project #2: Control and Trajectory Following for a Mobile Robot
Week 10: Quadrotor Control
Week 11: Trajectory Generation
Week 12: Project #3: Planning and Control of a Quadrotor



Vijay Kumar
Nemirovsky Family Dean of Penn Engineering
University of Pennsylvania

Ani Hsieh
Research Associate Professor, Department of Mechanical Engineering & Applied Mechanics
University of Pennsylvania



University of Pennsylvania
The University of Pennsylvania (commonly referred to as Penn) is a private university, located in Philadelphia, Pennsylvania, United States. A member of the Ivy League, Penn is the fourth-oldest institution of higher education in the United States, and considers itself to be the first university in the United States with both undergraduate and graduate studies.



EdX est une plateforme d'apprentissage en ligne (dite FLOT ou MOOC). Elle héberge et met gratuitement à disposition des cours en ligne de niveau universitaire à travers le monde entier. Elle mène également des recherches sur l'apprentissage en ligne et la façon dont les utilisateurs utilisent celle-ci. Elle est à but non lucratif et la plateforme utilise un logiciel open source.

EdX a été fondée par le Massachusetts Institute of Technology et par l'université Harvard en mai 2012. En 2014, environ 50 écoles, associations et organisations internationales offrent ou projettent d'offrir des cours sur EdX. En juillet 2014, elle avait plus de 2,5 millions d'utilisateurs suivant plus de 200 cours en ligne.

Les deux universités américaines qui financent la plateforme ont investi 60 millions USD dans son développement. La plateforme France Université Numérique utilise la technologie openedX, supportée par Google.

您是 MOOC 的设计者?