Robotics: Modeling, Control and Vision

The course uses "Robotics: Modeling, Control and Vision" as the reference book and is divided into three parts: modeling, control and vision. Chapter 1 is an overview, introducing the connotation, applications and research directions of robotics. The modeling part includes Chapters 2-7, which systematically introduces the robot mechanism, rigid body pose description and homogeneous transformation, rigid body velocity and static force, manipulator kinematics, Jacobian matrix and manipulator dynamics. The control part includes Chapters 8-13, which introduce trajectory generation, trajectory control, and force control.

• Chapter 1：Chapter 1: Overview; Chapter 2: Robot Mechanism (1 hours and 41 minutes and 28 seconds)

• Chapter 2：Chapter 3: Pose description and homogeneous transformation (47 minutes and 44 seconds)

• Chapter 3：Chapter 3: Pose description and homogeneous transformation (1 hours and 34 minutes and 55 seconds)

• Chapter 4：Chapter 4: Rigid Body Velocity and Static Force (1 hours and 33 minutes and 3 seconds)

• Chapter 5：Chapter 4: Rigid Body Velocity and Static Force (1 hours and 35 minutes and 53 seconds)

• Chapter 6：Chapter 4: Rigid Body Velocity and Static Force (1 hours and 34 minutes and 58 seconds)

• Chapter 7：Chapter 5: Manipulator Kinematics (1 hours and 36 minutes and 5 seconds)

• Chapter 8：Chapter 5: Manipulator Kinematics (1 hours and 37 minutes and 57 seconds)

• Chapter 9：Chapter 6: Jacobian Matrix of Manipulator (1 hours and 33 minutes and 38 seconds)

• Chapter 10：Chapter 6: Jacobi of the Manipulator; Chapter 7: Dynamics of the Manipulator (1 hours and 32 minutes and 37 seconds)

• Chapter 11：Chapter 7: Manipulator Dynamics (1 hours and 38 minutes and 18 seconds)

• Chapter 12：Chapter 7: Manipulator Dynamics; Chapter 8: Trajectory Generation (1 hours and 32 minutes and 26 seconds)

• Chapter 13：Chapter 8: Trajectory Generation; Chapter 9: Robot Motion Control (1 hours and 26 minutes and 32 seconds)

• Chapter 14：Chapter 9: Robot Motion Control (1 hours and 25 minutes and 9 seconds)

• Chapter 15：Chapter 10: Force Control of Robots (1 hours and 31 minutes and 7 seconds)

• Chapter 16：Chapter 10: Force Control of Robots (1 hours and 31 minutes and 34 seconds)

• Chapter 17：Chapter 10: Force Control of Robots (1 hours and 30 minutes and 4 seconds)

• Chapter 18：Chapter 14: Visual Image Processing (1 hours and 32 minutes and 14 seconds)

• Chapter 19：Chapter 14: Visual Image Processing (1 hours and 25 minutes and 17 seconds)