In arrivo
Robotics Engineering
Dagli angoli dei giunti a un robot che porta a termine il lavoro.
Il corso completo
- moduli
- 57
- argomenti
- 598
- min per lezione
- 15
58%
delle aziende si aspetta che robot e sistemi autonomi trasformino il proprio business entro il 2030.
Quello che saprai fare.
Risolvi cinematica diretta e inversa
Tappa 2 · Spatial Kinematics
Modella dinamica, coppia e forze di contatto
Tappa 3 · Dynamics & Actuation
Fondi i sensori in una stima di stato affidabile
Tappa 4 · Sensing, Estimation & Software
Pianifica movimenti senza collisioni e prese stabili
Tappa 5 · Planning & Manipulation
Integra e collauda un prototipo funzionante
Tappa 6 · Mobile Systems & Verification
Rilascia un task robotico con recupero dai guasti
Tappa 7 · Laboratory & Capstone
Sette tappe.Una salita costante.
Telai e giunti, forze e sensori, piani e prese — poi il robot intero.
57moduli
in 7 tappe
598argomenti
≈ 10 per modulo
≈150ore
in lezioni da 15 minuti
≈20mesi
≈10mesi
≈5mesi
per finire l'intero corso
- 1
Foundations & Math
Requisiti e la matematica che userai
4 moduli · 41 argomenti · ≈ 10 h
- 2
Spatial Kinematics
Dove sta ogni giunto e ogni telaio
11 moduli · 115 argomenti · ≈ 29 h
- 3
Dynamics & Actuation
Forze, motori e contatto
7 moduli · 72 argomenti · ≈ 18 h
- 4
Sensing, Estimation & Software
Cosa percepisce e crede il robot
7 moduli · 76 argomenti · ≈ 19 h
- 5
Planning & Manipulation
Arrivarci, poi afferrarlo
13 moduli · 142 argomenti · ≈ 36 h
- 6
Mobile Systems & Verification
Ruote, flotte e la prova che funziona
12 moduli · 121 argomenti · ≈ 30 h
- 7
Laboratory & Capstone
Il tuo robot, dal modello al prototipo
3 moduli · 31 argomenti · ≈ 8 h
Mesi
0481202460123
MesiTraguardo · ≈ 20 mesi · ≈ 10 mesi · ≈ 5 mesi
Ore e mesi sono stime: una lezione da 15 minuti per argomento, ogni giorno.
Ogni modulo.Ogni argomento.
I titoli di moduli e argomenti restano in inglese, la lingua in cui lavora questo settore.
Tappa 1
Foundations & Math
Requisiti e la matematica che userai
4 moduli · 41 argomenti
1Foundations of Robotics Engineering9 argomenti
- Robots as Embodied Computational Systems
- Sensing, Decision, Action, and Physical Feedback
- Robot Autonomy and Levels of Task Responsibility
- Manipulation, Mobility, and Physical Interaction
- Robot State, Configuration, Action, and Observation
- Model-Based and Data-Driven Approaches to Robotics
- The Relationship Between Robot Hardware and Algorithms
- Robot Capability, Performance, and Operating Conditions
- The Robotics Engineering Development Lifecycle
2Robot Tasks and Engineering Requirements11 argomenti
- Translating an Application into a Robot Task
- Defining Task Inputs, Outputs, and Success Conditions
- Describing Objects, Environments, and Disturbances
- Functional and Performance Requirements
- Reach, Payload, Speed, and Precision Requirements
- Duty Cycles and Mission Duration
- Operating Envelopes and Environmental Constraints
- Expected Variability and Exceptional Conditions
- Allocating Error, Timing, and Reliability Budgets
- Requirement Traceability and Acceptance Criteria
- Evaluating Whether a Task Is Physically Feasible
3Robot Architecture and Interface Design10 argomenti
- Functional Decomposition of a Robotic System
- Mechanical, Electrical, Computational, and Data Interfaces
- Separating Sensing, Estimation, Planning, and Execution
- Centralized and Distributed Robot Architectures
- Hardware Abstraction and Replaceable Components
- Command Ownership and Authority Boundaries
- State Feedback and Component Health Interfaces
- Interface Units, Coordinate Frames, and Conventions
- Startup, Shutdown, and Operating Modes
- Architecture Tradeoffs Across Cost, Capability, and Complexity
4Mathematical and Computational Tools for Robotics11 argomenti
- Vectors, Bases, and Coordinate Representations
- Matrix Operations in Robot Models
- Linear Systems and Least-Squares Solutions
- Rank, Null Spaces, and Singular Value Decomposition
- Derivatives, Gradients, and Jacobians
- Ordinary Differential Equations and State Evolution
- Numerical Integration and Discretization Error
- Constrained Optimization for Robot Problems
- Probability, Covariance, and Measurement Uncertainty
- Numerical Conditioning, Scaling, and Floating-Point Error
- Units and Dimensional Consistency in Robot Calculations
Tappa 2
Spatial Kinematics
Dove sta ogni giunto e ogni telaio
11 moduli · 115 argomenti
5Robot Mechanisms and Degrees of Freedom10 argomenti
- Links, Joints, and Kinematic Chains
- Revolute, Prismatic, Helical, and Compound Joints
- Serial, Parallel, and Hybrid Mechanisms
- Joint Coordinates and Independent Motion Variables
- Degrees of Freedom and Mechanism Mobility
- Mobility Counting and Its Assumptions
- Actuated, Passive, and Underactuated Coordinates
- Open Chains, Closed Loops, and Kinematic Trees
- Joint Limits and Mechanical Motion Constraints
- Mechanism Selection from Task Requirements
6Coordinate Frames and Spatial Transformations10 argomenti
- World, Base, Joint, Tool, Sensor, and Object Frames
- Right-Handed Coordinate Systems and Axis Conventions
- Expressing Points and Vectors in Different Frames
- Active Transformations and Passive Coordinate Changes
- Rotation and Translation as Distinct Operations
- Homogeneous Transformation Matrices
- Transformation Composition and Order Dependence
- Inverting Rigid Transformations
- Frame Trees and Transformation Chains
- Detecting Frame, Sign, and Unit Errors
7Representing Orientation in Three Dimensions11 argomenti
- Rotation Matrices and Their Constraints
- Euler Angles and Rotation Sequences
- Roll, Pitch, Yaw, and Convention Ambiguities
- Axis-Angle Representations
- Unit Quaternions and Quaternion Composition
- Quaternion Sign Ambiguity and Normalization
- Converting Between Orientation Representations
- Gimbal Lock and Representation Singularities
- Orientation Error and Rotation Distance
- Interpolating Orientations Along a Motion
- Averaging and Comparing Noisy Orientation Estimates
8Rigid-Body Motion and Screw Coordinates9 argomenti
- The Rotation Group SO(3)
- The Rigid-Motion Group SE(3)
- Skew-Symmetric Matrices and Cross Products
- Angular Velocity in Moving and Fixed Frames
- Twists and Instantaneous Rigid-Body Motion
- Screw Axes, Pitch, and Joint Motion
- Exponential and Logarithmic Maps for Robot Poses
- Adjoint Transformations of Spatial Motion
- Consistent Spatial and Body Coordinate Conventions
9Configuration Spaces and Robot Workspaces10 argomenti
- Joint Space, Task Space, and Operational Coordinates
- Configuration Space Dimension and Topology
- Periodic Coordinates and Angular Wraparound
- Position Tasks and Full-Pose Tasks
- Reachable and Dexterous Workspaces
- Workspace Boundaries and Internal Exclusions
- Joint Limits as Configuration Constraints
- Holonomic and Nonholonomic Constraints
- Task Constraints as Lower-Dimensional Configuration Sets
- Numerical Workspace Exploration and Visualization
10Forward Kinematics11 argomenti
- Building a Kinematic Model from a Mechanism
- Planar Manipulator Forward Kinematics
- Spatial Serial-Chain Forward Kinematics
- Assigning Link Frames Consistently
- Standard and Modified Denavit-Hartenberg Conventions
- Product-of-Exponentials Kinematic Models
- Space-Frame and Body-Frame Formulations
- Tool Offsets and Additional Fixed Transforms
- Kinematics of Branched Robot Models
- Evaluating Intermediate Link Poses
- Validating Forward Kinematics Against Geometry and Measurements
11Geometric and Analytical Inverse Kinematics10 argomenti
- Formulating Position and Orientation Goals
- Geometric Solutions for Planar Arms
- Reachability Tests Before Solving
- Multiple Inverse-Kinematics Solutions
- Elbow, Shoulder, and Wrist Configuration Branches
- Kinematic Decoupling for Suitable Robot Structures
- Joint Limits and Admissible Solutions
- Selecting Solutions Relative to a Starting Configuration
- Maintaining Solution Continuity Along a Path
- Recognizing Structures Without Practical Closed-Form Solutions
12Numerical and Constrained Inverse Kinematics12 argomenti
- Defining Pose Residuals for Numerical Solvers
- Iterative Linearization of Kinematic Equations
- Newton and Gauss-Newton Solution Strategies
- Pseudoinverse Updates and Damped Least Squares
- Weighting Position and Orientation Errors
- Initial Guesses, Multiple Starts, and Local Minima
- Joint Bounds and Inequality Constraints
- Orientation Cones and Partial-Pose Constraints
- Collision-Aware Inverse Kinematics
- Posture Preferences and Secondary Objectives
- Convergence Criteria and Failure Diagnostics
- Evaluating Solver Robustness Across Target Sets
13Differential Kinematics and Jacobians11 argomenti
- Mapping Joint Rates to End-Effector Velocity
- Geometric and Analytical Jacobians
- Constructing Jacobians from Joint Axes
- Space Jacobians and Body Jacobians
- Transforming Jacobians Between Frames
- Translational and Rotational Task Jacobians
- Jacobians for Intermediate Links and Contact Points
- Differential Inverse Kinematics
- Joint Acceleration and End-Effector Acceleration
- Jacobian Time Derivatives
- Checking Jacobians with Numerical Differentiation
14Singularities, Redundancy, and Dexterity11 argomenti
- Kinematic Singularities and Rank Loss
- Workspace-Boundary and Internal Singularities
- Velocity Amplification Near Singular Configurations
- Manipulability Ellipsoids and Their Interpretation
- Task Scaling and Dimensionally Consistent Dexterity Metrics
- Condition Numbers as Configuration Diagnostics
- Redundant Robots and Self-Motion
- Null-Space Motion and Task Preservation
- Joint Centering and Joint-Limit Avoidance
- Task Priorities and Conflicting Objectives
- Planning Motions Through Regions of Poor Dexterity
15Closed-Chain and Parallel Robot Kinematics10 argomenti
- Loop-Closure Equations
- Independent and Dependent Joint Coordinates
- Forward and Inverse Problems in Parallel Mechanisms
- Assembly Modes and Working Modes
- Constraint Jacobians and Admissible Motion
- Serial and Parallel Singularities
- Workspace Restrictions from Loop Closure
- Kinematics of Mechanically Coupled Arms
- Numerical Solution of Closed-Chain Constraints
- Maintaining Constraint Consistency During Motion
Tappa 3
Dynamics & Actuation
Forze, motori e contatto
7 moduli · 72 argomenti
16Robot Statics and Force Transmission9 argomenti
- Forces, Moments, and Spatial Wrenches
- Wrench Transformation Between Coordinate Frames
- Static Equilibrium of Robot Links
- Virtual Work and Generalized Forces
- Mapping End-Effector Wrenches to Joint Torques
- Gravity Loads and Configuration Dependence
- Force Transmission and Mechanical Advantage
- Joint Torque Limits and Feasible Tool Wrenches
- Interpreting Force Capability Near Singularities
17Rigid-Body Dynamics for Robots11 argomenti
- Mass, Center of Mass, and Inertia Tensors
- Expressing Inertia in Different Coordinate Frames
- The Parallel-Axis Theorem in Robot Models
- Linear and Angular Momentum
- Kinetic and Potential Energy
- Newton-Euler Equations for a Rigid Body
- Generalized Coordinates and the Lagrangian
- Configuration-Dependent Inertia
- Coriolis, Centrifugal, and Gravity Effects
- External Forces and Generalized Joint Loads
- Energy and Momentum Checks for Dynamic Models
18Manipulator Dynamics and Computational Algorithms11 argomenti
- The Manipulator Equation of Motion
- Deriving Dynamics for a Simple Robot Arm
- Interpreting the Joint-Space Mass Matrix
- Inverse Dynamics and Required Joint Effort
- Recursive Newton-Euler Computation
- Forward Dynamics and Motion Prediction
- Efficient Inertia and Forward-Dynamics Algorithms
- Task-Space Dynamic Relationships
- Dynamics with Kinematic Constraints
- Payload and Tool Contributions to Robot Dynamics
- Comparing Rigid-Body Models with Measured Motion
19Actuation and Joint Capability Models11 argomenti
- Position, Velocity, Torque, and Effort Interfaces
- Motor-Side and Joint-Side Quantities
- Gear Ratios and Reflected Inertia
- Torque-Speed Envelopes and Power Limits
- Continuous and Peak Joint Ratings
- Transmission Efficiency and Backdrivability
- Joint Friction, Stiction, and Dead Zones
- Backlash and Hysteresis in Robot Motion
- Series Elasticity and Joint Deflection
- Thermal Derating and Duty-Cycle Constraints
- Translating Joint Capabilities into Task Feasibility
20Robot Accuracy, Compliance, and Error Budgets9 argomenti
- Accuracy, Precision, Repeatability, and Resolution
- Sources of End-Effector Position and Orientation Error
- Propagating Joint Errors Through Kinematics
- Geometric Error and Nongeometric Error
- Link, Joint, and Mounting Compliance
- Cartesian Stiffness and Configuration Dependence
- Payload Deflection and Tool Compliance
- Thermal Drift and Time-Dependent Accuracy
- Allocating and Verifying a Robot Error Budget
21Motion Commands and Tracking Behavior11 argomenti
- Joint-Space and Cartesian Command Interfaces
- Position Setpoints and Time-Indexed Trajectories
- Velocity Commands and Integrated Motion
- Effort Commands and Gravity Compensation Interfaces
- Feedforward Terms from a Robot Model
- Feedback Tracking in the Robot Execution Chain
- Tracking Error, Lag, Overshoot, and Settling
- Command Saturation and Rate Limits
- Matching Trajectory Demands to Tracking Capability
- Switching Motion Modes Without Command Discontinuities
- Measuring Tracking Performance Under Changing Loads
22Contact Behavior and Force Interfaces10 argomenti
- Free Motion and Constrained Motion
- Choosing Position, Force, or Compliance Objectives
- Contact Frames and Task Direction Selection
- Direct Force Commands and Force Feedback
- Impedance as a Motion-to-Force Relationship
- Admittance as a Force-to-Motion Relationship
- Selecting Apparent Stiffness and Damping for a Task
- Combining Motion and Force Objectives in Different Directions
- Contact Transitions, Delays, and Unwanted Oscillation
- Evaluating Contact Behavior Against Task Limits
Tappa 4
Sensing, Estimation & Software
Cosa percepisce e crede il robot
7 moduli · 76 argomenti
23Robot Sensing and Measurement Interfaces11 argomenti
- Proprioceptive and Exteroceptive Measurements
- Joint Position and Velocity Measurements
- Encoders, Index References, and Homing Information
- Torque Sensors and Motor-Current-Based Effort Estimates
- Force-Torque Sensors and Load Measurement
- Inertial Measurements and Their Reference Frames
- Contact, Proximity, and Tactile Signals
- Range and Pose Measurements as Robot Inputs
- Sensor Resolution, Bandwidth, and Latency
- Bias, Drift, Noise, Saturation, and Missing Data
- Measurement Timestamps, Units, and Validity Flags
24Robot State Estimation and Uncertainty11 argomenti
- Choosing State Variables for a Robot Task
- Process Models and Measurement Models
- Prediction and Measurement Correction
- Propagating State and Measurement Covariance
- Combining Measurements with Different Uncertainties
- Kalman Filtering for Simple Robot State Models
- Local Linearization for Nonlinear Robot Estimation
- Observability and Unmeasured State Components
- Innovation Checks and Outlier Rejection
- Delayed, Intermittent, and Asynchronous Measurements
- Relating Estimation Uncertainty to Motion Decisions
25Robot Calibration and Parameter Identification12 argomenti
- Calibration Objectives and Reference Measurements
- Joint Zero Offsets and Encoder Scale Factors
- Geometric and Kinematic Parameter Calibration
- Tool Center Point Calibration
- Base-to-World Frame Calibration
- Sensor-to-Robot Extrinsic Calibration
- Hand-Eye Calibration from Robot and Sensor Motions
- Force-Torque Sensor Bias and Tool-Weight Compensation
- Payload Mass and Center-of-Mass Identification
- Identifying Friction and Dynamic Parameters
- Excitation, Identifiability, and Parameter Correlation
- Independent Validation and Calibration Drift Detection
26World Models and Perception Interfaces10 argomenti
- Representing Objects, Surfaces, and Free Space
- Geometric and Semantic World Information
- Object Identity, Pose, Shape, and Uncertainty
- Consuming Detections and Pose Estimates from Perception Systems
- Converting Sensor Observations into Robot Frames
- Maintaining Object State Across Observations
- Occlusion, Ambiguity, and Unknown Space
- Observation Freshness and World-Model Consistency
- Task-Relevant Affordances and Interaction Properties
- Requesting Additional Observations Before Acting
27Robot Descriptions and Software Structure11 argomenti
- Robot Description Files and Kinematic Model Data
- Joint Types, Limits, and Transmission Metadata
- Visual, Collision, and Inertial Representations
- Robot State Publishers and Frame Transform Services
- Driver, Model, Planning, and Task Software Boundaries
- Typed Interfaces for Robot Commands and Observations
- Configuration, Parameters, and Model Versioning
- Component Lifecycle and Dependency Management
- Simulation and Hardware Interface Compatibility
- Namespaces and Multiple Robot Instances
- Automated Consistency Checks for Robot Descriptions
28Communication, Timing, and Data Flow10 argomenti
- Publish-Subscribe, Request-Response, and Action Interfaces
- Streaming Measurements and Long-Running Robot Commands
- Message Delivery, Ordering, and Queue Behavior
- Sampling Rates and Processing Rates
- Clock Sources and Clock Synchronization
- Timestamp Alignment and Motion Compensation
- Latency, Jitter, and Deadline Budgets
- Buffering, Backpressure, and Stale Data
- Command Timeouts and Communication Loss
- Recording and Replaying Time-Aligned Robot Data
29Robot Simulation and Model Fidelity11 argomenti
- Kinematic Simulation and Dynamic Simulation
- Building a Robot and Environment Simulation
- Physics Time Steps and Numerical Solver Settings
- Rigid Contact, Compliant Contact, and Friction Models
- Joint Limits, Actuation Limits, and Transmission Models
- Simulating Sensor Noise, Delay, and Dropout
- Initialization and Physically Consistent Robot States
- Deterministic Replay and Sources of Nondeterminism
- Choosing Model Fidelity for a Specific Question
- Comparing Simulation Results with Physical Measurements
- Identifying and Reducing the Simulation-to-Reality Gap
Tappa 5
Planning & Manipulation
Arrivarci, poi afferrarlo
13 moduli · 142 argomenti
30Robot Geometry and Collision Checking11 argomenti
- Geometric Primitives, Meshes, and Convex Approximations
- Choosing Collision Geometry Independently of Visual Detail
- Broad-Phase and Narrow-Phase Collision Detection
- Self-Collision and Environment Collision
- Distance Queries and Closest-Point Information
- Signed Distance Representations
- Robot Padding and Clearance Margins
- Discrete and Continuous Collision Checking
- Attached Objects and Changing Robot Geometry
- Allowed Contacts and Contact-State-Dependent Collision Rules
- Checking Swept Motion Between Sampled Configurations
31Motion Planning and Graph Search11 argomenti
- Defining Start States, Goal Sets, and Feasibility Constraints
- Paths, Trajectories, and Executable Motions
- Configuration-Space Obstacles
- Free-Space Connectivity and Narrow Passages
- Configuration-Space Metrics and Interpolation
- Grid and Lattice Representations
- Dijkstra Search and A* Search for Robot Paths
- Heuristics, Search Resolution, and Computational Cost
- Path Length, Clearance, and Task-Specific Objectives
- Completeness, Optimality, and Practical Planning Limits
- Validating a Planned Path Before Execution
32Sampling-Based Motion Planning11 argomenti
- Configuration Sampling and Feasibility Tests
- Nearest-Neighbor Search in Robot Configuration Spaces
- Local Connections and Steering Functions
- Probabilistic Roadmaps for Repeated Queries
- Rapidly Exploring Random Trees for Single Queries
- Bidirectional Tree Search and Connection Strategies
- Optimal Sampling-Based Planning Variants
- Goal Biasing and Informed Sampling
- Sampling Under Task and Kinematic Constraints
- Narrow-Passage Strategies and Planner Failure Analysis
- Path Simplification, Shortcutting, and Revalidation
33Optimization for Constrained Robot Motion12 argomenti
- Motion Planning as a Constrained Optimization Problem
- Waypoint, Spline, and Direct-Trajectory Parameterizations
- Smoothness, Effort, Clearance, and Duration Objectives
- Joint, Pose, and Workspace Constraints
- Collision-Distance Constraints and Their Approximation
- Gradients and Automatic Differentiation in Robot Models
- Initialization from Geometric or Sampling-Based Paths
- Local Minima and Infeasible Initial Guesses
- Sequential Convex Approximation of Motion Problems
- Including Dynamic Feasibility in Trajectory Optimization
- Scaling Variables and Checking Solver Residuals
- Independently Validating Optimized Motions
34Trajectory Generation and Time Parameterization12 argomenti
- Path Geometry and Time Laws
- Point-to-Point Joint Trajectories
- Cubic and Quintic Polynomial Motion Profiles
- Trapezoidal Velocity and Jerk-Limited Profiles
- Cartesian Position and Orientation Trajectories
- Via Points, Splines, and Segment Blending
- Synchronizing Motion Across Multiple Joints
- Velocity, Acceleration, Jerk, and Torque Constraints
- Time Scaling Along a Prescribed Path
- Retiming Paths After Planning or Payload Changes
- Stopping and Resuming a Trajectory Continuously
- Sampling Trajectories for the Robot Command Interface
35Online Replanning and Motion Execution11 argomenti
- Connecting a Planner to a Motion Executor
- Execution Progress and Tracking Tolerances
- Reconciling Planned State with Measured State
- Moving Obstacles and Time-Dependent Constraints
- Prediction Horizons and Environment Uncertainty
- Replanning Triggers and Update Frequency
- Preserving Continuity When Replacing a Trajectory
- Delayed Plans and Invalidated Planning Assumptions
- Feasible Stopping and Retreat Motions
- Handling Planner Timeouts and Unreachable Goals
- Monitoring Execution Until Task Completion
36Contact Mechanics and Object Interaction10 argomenti
- Contact Points, Normals, and Tangential Directions
- Unilateral Contact and Nonpenetration
- Static and Kinetic Friction
- Friction Cones and Polyhedral Approximations
- Sticking, Sliding, Rolling, and Separation
- Contact Compliance and Local Deformation
- Multiple Contacts and Contact Mode Combinations
- Quasistatic and Dynamic Interaction Models
- Impact, Impulse, and Changes in Velocity
- Contact Complementarity and Numerical Difficulties
37End-Effectors and Grasp Geometry11 argomenti
- Choosing an End-Effector from Object and Task Properties
- Parallel-Jaw, Suction, and Multifinger Grippers
- Rigid, Compliant, and Underactuated Gripping Structures
- Jaw Stroke, Finger Geometry, and Object Accessibility
- Contact Surfaces and Material Compatibility
- Grasp Frames, Approach Directions, and Pregrasp Poses
- Geometric Grasp Candidates from Object Models
- Antipodal Grasp Geometry
- Reachability and Collision Checks for Candidate Grasps
- Tool Mounting, Payload, and Utility Interfaces
- Confirming Object Acquisition with Available Measurements
38Grasp Mechanics and Stability10 argomenti
- Contact Forces and Object Wrench Balance
- Grasp Matrices and Contact Wrench Spaces
- Form Closure and Force Closure
- Internal Grasp Forces and Net Object Motion
- Friction Requirements for Stable Holding
- Gripper Effort Limits and Object Damage Limits
- Gravity and Inertial Loads During Object Transport
- Grasp Quality Metrics and Their Assumptions
- Robustness to Pose, Friction, and Shape Uncertainty
- Slip Detection and Grasp Adjustment
39Manipulation Motion Planning11 argomenti
- Planning a Complete Acquire-Move-Release Sequence
- Coordinating Grasp Choice with Arm Configuration
- Approach and Retreat Path Constraints
- Transporting Objects with Orientation Restrictions
- Object Placement and Support Stability
- Regrasping and Intermediate Placement Choices
- Manipulation in Clutter and Restricted Spaces
- Using Environmental Supports During Manipulation
- Coordinating Two Arms Around a Shared Object
- Planning Object Handoffs Between Grippers
- Verifying Manipulation Results Before Advancing
40Contact-Rich and Nonprehensile Manipulation11 argomenti
- Pushing Objects with Controlled Contact Geometry
- Sliding and Pivoting on Supporting Surfaces
- Rolling and Reorienting Objects Through Contact
- Manipulating Hinged and Sliding Objects
- Insertion Tasks and Geometric Alignment
- Jamming, Wedging, and Contact-Induced Failure
- Using Compliance to Accommodate Pose Error
- Contact Search and Incremental Motion Strategies
- Sequencing Contact Modes for a Task
- Monitoring Force and Motion During Interaction
- Recognizing When Rigid-Object Models Are Insufficient
41Task Planning and Motion Planning Integration10 argomenti
- Task States, Actions, Preconditions, and Effects
- Symbolic Goals and Geometric Requirements
- Decomposing Tasks into Reusable Action Primitives
- Action Dependencies and Ordering Constraints
- Resources, Object Availability, and Tool Requirements
- Connecting Symbolic Actions to Motion Feasibility
- Geometric Failures That Require Task-Level Changes
- Searching Across Grasp, Placement, and Motion Choices
- Planning with Incomplete Task-State Information
- Checking Goal Satisfaction from Physical Evidence
42Behavior Orchestration and Recovery11 argomenti
- Finite-State Machines for Robot Behavior
- Hierarchical State Machines for Complex Tasks
- Behavior Trees and Reactive Task Execution
- Sequential, Concurrent, and Interruptible Actions
- Action Completion, Failure, and Cancellation Semantics
- Preconditions, Invariants, and Runtime Guards
- Timeouts, Retries, and Bounded Recovery Attempts
- Distinguishing Recoverable and Terminal Failures
- Restoring a Consistent State After Interruption
- Requesting Operator Assistance with Useful Context
- Logging Behavior Transitions for Diagnosis
Tappa 6
Mobile Systems & Verification
Ruote, flotte e la prova che funziona
12 moduli · 121 argomenti
43Wheeled Robot Kinematic Foundations10 argomenti
- Planar Mobile-Robot Pose and Body Velocity
- Wheel Rolling Constraints and Slip Assumptions
- Differential-Drive Forward and Inverse Kinematics
- Unicycle Models and Their Physical Interpretation
- Steering Geometry and Minimum Turning Radius
- Omnidirectional and Mecanum Drive Kinematics
- Holonomic and Nonholonomic Motion Capabilities
- Converting Body-Motion Requests into Wheel Commands
- Wheel-Speed Limits and Feasible Base Motions
- Relating Base Geometry to Maneuverability
44Mobile-Robot Odometry and Navigation Interfaces11 argomenti
- Integrating Wheel Motion into Pose Estimates
- Odometry Error from Wheel Geometry and Slip
- Combining Wheel and Inertial Measurements
- Local Odometry and Global Reference Frames
- Using External Localization Estimates
- Map Representations Needed by Navigation Modules
- Consuming Maps from Mapping and SLAM Systems
- Robot Footprints, Clearance, and Traversability Inputs
- Sending Pose Goals and Receiving Navigation Status
- Pose Uncertainty, Localization Loss, and Goal Tolerances
- Evaluating Base Navigation as a Robot Subsystem
45Mobile Manipulation10 argomenti
- Kinematic Models of a Base and Attached Arm
- Frames Across the Base, Arm, Tool, and Environment
- Choosing Base Poses for Manipulation Reachability
- Joint Base-Arm Configuration Planning
- Redundancy Across Base and Arm Motion
- Balancing Arm Dexterity and Base Clearance
- Manipulation with Base-Localization Uncertainty
- Base Stability and Payload-Induced Tipping Constraints
- Coordinating Base Motion with Object Transport
- Repositioning When a Manipulation Task Becomes Infeasible
46Coordinated Multi-Robot Systems10 argomenti
- Task Decomposition Across Multiple Robots
- Shared and Robot-Specific Coordinate Frames
- Common Object and Task-State Representations
- Allocating Tasks According to Robot Capabilities
- Shared Resources and Mutual Exclusion
- Space-Time Conflicts and Coordinated Motion
- Coupled Motion During Cooperative Object Handling
- Synchronization and Communication Delays
- Deadlock, Stalled Tasks, and Reallocation
- Evaluating Cooperation Over a Single-Robot Baseline
47Data-Driven Robotics and Learned Skills12 argomenti
- Choosing What to Learn Within a Robot Architecture
- Learning Model Parameters and Residual Errors
- Robot Demonstrations and Action Representations
- Imitation Learning for Bounded Robot Skills
- Reward and Objective Definitions for Skill Learning
- Observation, Action, and Timing Contracts for Policies
- Integrating Learned Skills with Explicit Task Logic
- Task Proposals from General-Purpose Models
- Checking Proposed Actions Against Robot Constraints
- Dataset Coverage and Task-Relevant Variation
- Generalization Across Objects, Poses, and Robot Conditions
- Comparing Learned Skills with Model-Based Baselines
48Computational Performance and Resource Budgets9 argomenti
- End-to-End Latency Through the Robot Software Stack
- Profiling Kinematics, Collision Checking, and Planning
- Choosing Computation Rates for Different Components
- Caching Reusable Geometry and Model Quantities
- Parallel Computation and Shared-State Consistency
- CPU, GPU, Memory, and Communication Tradeoffs
- Deadline Misses and Graceful Performance Degradation
- Energy and Thermal Budgets for Onboard Computation
- Measuring Performance Under Realistic System Load
49Experimental Design and Robot Performance Evaluation11 argomenti
- Turning Engineering Questions into Experiments
- Selecting Representative Tasks and Test Conditions
- Position, Orientation, Path, and Timing Metrics
- Task Success, Completion Time, and Intervention Rate
- Repeated Trials and Sources of Variability
- Ground Truth, Reference Instruments, and Measurement Error
- Reporting Distributions and Confidence Intervals
- Sensitivity Studies and Controlled Ablation Experiments
- Separating Component Performance from System Performance
- Benchmark Comparability and Reproducible Test Conditions
- Interpreting Failures Alongside Aggregate Metrics
50Robot Software and Model Verification11 argomenti
- Testing Transformation and Kinematic Consistency
- Round-Trip Checks for Forward and Inverse Kinematics
- Comparing Analytical and Numerical Derivatives
- Checking Dynamics Through Physical Invariants
- Detecting Invalid Inertial and Geometric Parameters
- Testing Collision Models with Known Geometric Cases
- Verifying Trajectory Bounds and Continuity
- Exercising Behavior Logic with Simulated Events
- Fault Injection for Sensor and Communication Errors
- Software-in-the-Loop and Hardware-in-the-Loop Testing
- Regression Tests Across Robot Model and Software Changes
51System Integration and Prototype Commissioning10 argomenti
- Integration Plans and Subsystem Entry Criteria
- Checking Mechanical Assembly Against the Robot Model
- Verifying Joint Direction, Scale, and Limits
- Bringing Up Sensors and Checking Frame Alignment
- Establishing Reliable State and Command Communication
- Moving from Individual Joints to Coordinated Motion
- Introducing Tools, Payloads, and Contact Tasks Progressively
- Diagnosing Interface Mismatches Across Subsystems
- Validating Complete Task Sequences on Hardware
- Recording Acceptance Evidence and Open Limitations
52Fault Diagnosis and Robot Health Monitoring10 argomenti
- Organizing Faults by Observable Symptoms
- Separating Model, Measurement, Planning, and Hardware Faults
- Expected-State Residuals and Diagnostic Signals
- Detecting Friction Changes and Mechanical Wear
- Identifying Encoder, Calibration, and Frame Errors
- Recognizing Timing and Communication Faults
- Monitoring Temperature, Current, and Repeated Saturation
- Detecting Grasp and Tool-Interaction Failures
- Preserving Logs and Reconstructing Failure Sequences
- Maintenance Triggers and Post-Maintenance Validation
53Essential Safe Robot Operation8 argomenti
- Recognizing Motion, Pinch, Impact, and Stored-Energy Hazards
- Defining Test Boundaries and Permitted Operating Modes
- Understanding Stop Functions and Their Limitations
- Joint, Speed, Effort, and Workspace Limits
- Reduced-Energy Testing and Supervised Initial Motion
- Preventing Unexpected Motion During Setup and Restart
- Handling Tools, Payloads, and Stored Energy During Servicing
- Assigning Stop Authority and Incident Reporting Responsibilities
54Engineering Documentation and Reproducibility9 argomenti
- Robot Model and Coordinate-Frame Documentation
- Interface Specifications and Command Semantics
- Recording Hardware, Firmware, and Software Configurations
- Calibration Records and Parameter Provenance
- Experiment Manifests and Dataset Organization
- Design Decisions, Assumptions, and Known Limitations
- Reproducible Simulation and Hardware Test Procedures
- Operating, Recovery, and Maintenance Instructions
- Change Review and Revalidation After System Updates
Tappa 7
Laboratory & Capstone
Il tuo robot, dal modello al prototipo
3 moduli · 31 argomenti
55Foundation Laboratory Projects10 argomenti
- Building and Visualizing a Complete Robot Frame Tree
- Modeling a Planar Arm and Mapping Its Workspace
- Implementing Forward Kinematics for a Spatial Manipulator
- Comparing Analytical and Numerical Inverse Kinematics
- Investigating Singularities and Redundant Motion
- Measuring Joint Errors and End-Effector Repeatability
- Identifying a Tool Transform from Measurements
- Predicting Joint Loads for Different Robot Configurations
- Validating a Dynamic Model with Recorded Motion
- Integrating Timestamped Measurements into a Robot State Estimate
56Planning and Manipulation Laboratory Projects10 argomenti
- Constructing and Testing a Robot Collision Model
- Comparing Graph, Sampling, and Optimization Planners
- Generating Motions Under Joint and Torque Limits
- Replanning After a Simulated Environment Change
- Evaluating Grasp Candidates for a Set of Objects
- Executing an Acquire-Transport-Place Task
- Performing a Constrained Contact-Manipulation Task
- Integrating a Mobile Base with a Manipulator Model
- Building Task Logic with Recovery from Injected Failures
- Comparing Simulated and Physical Task Performance
57Integrated Robotics Engineering Project11 argomenti
- Defining a Complete Robot Task and Acceptance Criteria
- Selecting an Architecture and Establishing System Interfaces
- Building and Validating the Robot Model
- Establishing Sensing, Frames, and Calibration
- Developing Motion and Manipulation Capabilities
- Implementing Task Execution and Failure Recovery
- Integrating the System in Simulation
- Commissioning a Physical Prototype Within Test Limits
- Evaluating Performance Across Representative Conditions
- Investigating Failures and Revising the Design
- Delivering Reproducible Results and Engineering Documentation
Quindici minuti.Ogni giorno.
- 1
Una lezione entra nella pausa pranzo
Un'idea alla volta, in slide brevi. Una lezione intera dura circa quindici minuti.
- 2
Esercizi con correzione immediata
Le domande sono dentro la lezione. Rispondi e vedi subito se hai capito.
- 3
Una serie che ti fa tornare
Una lezione al giorno tiene viva la serie. Sessioni brevi e costanti ti portano fino in fondo.
- 1
Una lezione entra nella pausa pranzo
Un'idea alla volta, in slide brevi. Una lezione intera dura circa quindici minuti.
- 2
Esercizi con correzione immediata
Le domande sono dentro la lezione. Rispondi e vedi subito se hai capito.
- 3
Una serie che ti fa tornare
Una lezione al giorno tiene viva la serie. Sessioni brevi e costanti ti portano fino in fondo.
Persone di hardware, di software, o entrambe le cose.
Ingegneri meccanici che passano alla robotica
Dove crescerai di più
Fondi i sensori in una stima di stato affidabile
Tappa 4 · Sensing, Estimation & SoftwareProgrammatori che passano all'hardware
Maker che hanno superato il kit
Dove crescerai di più
Integra e collauda un prototipo funzionante
Tappa 6 · Mobile Systems & Verification
Dove porta questo corso.
Il lavoro attorno a cui è costruito questo corso, e come ci si entra.
Robotics Engineer
Progetta robot che percepiscono, decidono e si muovono, e li rende affidabili fuori dal laboratorio.
Tutte le carriere del futuroSul lavoro
- Integrare sensori, motori e software di controllo
- Regolare un controllore finché il movimento non è fluido e sicuro
- Fare il debug di un robot che funziona in simulazione ma non in reparto
Come ci si entra
Di solito una laurea in ingegneria meccanica, elettrica o informatica.
Sii il primo della lista.
Accesso anticipato per i singoli, pilota per i team. Dicci chi sta imparando.
enterprise@astratrainer.com