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# PennX: Robotics: Kinematics and Mathematical Foundations

Master the foundational math concepts that drive robotics and put them into practice using MATLAB.

12 semanas
8–10 horas por semana
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# Sobre este curso

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Welcome to the first course in the Robotics MicroMasters series. This is an advanced course designed for learners who have a bachelor's degree in engineering or a similar field.

Learners will succeed in this course if they have familiarity with basic operations on matrices and vectors, as well as exposure to derivatives and partial derivatives.

The fundamental challenge this course addresses is how one can create robots that operate well in the real world.

### De un vistazo

• Institution PennX
• Subject Informática
• Prerequisites
• College-level algebra and trigonometry (matrices, vectors)
• Fundamentals of calculus (derivatives, partial derivatives)
• Basic knowledge of computer programming (variables, functions, control flow, some knowledge of graphs)
• Language English
• Video Transcript English
• Associated skillsKinematics, Operations, Derivatives, Basic Math

# Lo que aprenderás

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• How to describe, analyze and think critically about fundamental problems in robotics, such as how to change the position or configuration of a robot
• The role of mathematics in describing robotic arms, mobile robots and other robotic platforms
• How to use the industry standard programming environment, MATLAB

# Plan de estudios

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Math Fundamentals
Week 1: Vector spaces, inner products, vector norms, orthogonality
Week 2: Linear transformations, matrix multiplication, matrix groups
Week 3: Coordinate transformations, rigid transformations, rotation matrices quaternions, Matrix groups SE(2) and SE(3)
Week 4: Project

Robot Kinematics
Week 5: Kinematic chains, forward kinematics,
Week 6: Inverse kinematics
Week 7: Parallel mechanisms
Week 8: Project

_ Kinematic Path Planning _
Week 9: Graph based methods, Dijkstra’s method, A*Star
Week 10: RRT, configuration space
Week 11: Artificial potential fields
Week 12: Project

# ¿Quién puede hacer este curso?

Lamentablemente, las personas residentes en uno o más de los siguientes países o regiones no podrán registrarse para este curso: Irán, Cuba y la región de Crimea en Ucrania. Si bien edX consiguió licencias de la Oficina de Control de Activos Extranjeros de los EE. UU. (U.S. Office of Foreign Assets Control, OFAC) para ofrecer nuestros cursos a personas en estos países y regiones, las licencias que hemos recibido no son lo suficientemente amplias como para permitirnos dictar este curso en todas las ubicaciones. edX lamenta profundamente que las sanciones estadounidenses impidan que ofrezcamos todos nuestros cursos a cualquier persona, sin importar dónde viva.

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