Modern Robotics, Course 1: Foundations of Robot Motion 现代机器人学 课程记录及习题

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1. 自己搬运了完整CC字幕版本
2. Coursera的链接介绍

• 3.19：这个课程好像刚出的，先进设备呀，emm，疫情期间没什么事，多补补拉下的理论知识了

WEEK 1

Lecture Comprehension, Degrees of Freedom of a Rigid Body (Chapter 2 through 2.1)

1.Which of the following are possible elements of robots in this specialization? Select all that apply.
Rigid bodies
Joints

2.The number of degrees of freedom of a robot is (select all that apply):
the dimension of its configuration space.
the number of freedoms of the bodies minus the number of independent constraints between the bodies.
the number of real numbers needed to specify its configuration.

3.The number of degrees of freedom of a planar rigid body is
3

4.The number of degrees of freedom of a spatial rigid body is
6

5.A rigid body in n-dimensional space has mm total degrees of freedom. How many of these mm degrees of freedom are angular (not linear)? Select all that apply. (This is consistently one of the most incorrectly answered questions in this course, so think about it carefully!)
m-n
解释：n linear coordinates specify the location of one point of the rigid body, and the remaining m-n coordinates are subject to radius constraints (as described in the video), and hence can be thought of as angular coordinates.
n(n-1)/2
解释：This is equivalent to m-n.

Lecture Comprehension, Degrees of Freedom of a Robot (Chapter 2.2)

1.Consider a joint between two rigid bodies. Each rigid body has mm degrees of freedom (m=3m=3 for a planar rigid body and m=6m=6 for a spatial rigid body) in the absence of any constraints. The joint has ff degrees of freedom (e.g., f=1f=1 for a revolute joint or f=3f=3 for a spherical joint). How many constraints does the joint place on the motion of one rigid body relative to the other? Write your answer as a mathematical expression in terms of mm and ff.
m-f

2.Consider a mechanism consisting of three spatial rigid bodies (including ground, N=4N=4) and four joints: one revolute, one prismatic, one universal, and one spherical. According to Grubler’s formula, how many degrees of freedom does the mechanism have?
1

3.A mechanism that is incapable of motion has zero degrees of freedom. In some circumstances, Grubler’s formula indicates that the number of degrees of freedom of a mechanism is negative. How should that result be interpreted?
The constraints

Chapter 2 through 2.2, Configuration Space

1.Using the methods for determining the number of degrees of freedom of a rigid body in 3-dimensional space from the book and the video, find the number of degrees of freedom of a rigid body in a conceptual 4-dimensional space. Your answer should be an integer.
10

2.Referring back to Question 1, indicate how many of the total degrees of freedom are angular (rotational). Your answer should be an integer.
6

3.Assume your arm, from your shoulder to your palm, has 7 degrees of freedom. You are carrying a tray like a waiter, and you must keep the tray horizontal to avoid spilling drinks on the tray. How many degrees of freedom does your arm have while satisfying the constraint that the tray stays horizontal? Your answer should be an integer.
5

4.Four identical SRS arms are grasping a common object as shown below.
10
解释：如图

5.Referring back to Question 4, suppose there are now a total of nn such arms grasping the object. What is the number of degrees of freedom of this system? Your answer should be a mathematical expression including nn. Examples of mathematical expressions including
6+n

6.Referring back to Question 4 and 5, suppose the revolute joint in each of the nn arms is now replaced by a universal joint. What is the number of degrees of freedom of the overall system? Your answer should be a mathematical expression including nn. Examples of mathematical expressions including nn are 4n-74∗n−7 or n/3n/3.
6+2n

7.Use the planar version of Grubler’s formula to determine the number of degrees of freedom of the mechanism shown below. Your answer should be an integer. (Remember that a single joint can only connect two rigid bodies, so if you see more than two connecting at a single point, there must be more than one joint there. Also, the two blocks in the channels are only allowed to move prismatically in those channels, and one of the joints is labeled “P” for prismatic. You will need to identify all the other joints, and links.)
3
解释：3*(8-1-9)+9，如图：

WEEK 2

Lecture Comprehension, Configuration Space Topology (Chapter 2.3.1)

1.To deform one nn-dimensional space into another topologically equivalent space, which operations are you allowed to use? Select all that apply.
Stretching

2.True or false? An n-dimensional space can be topologically equivalent to an mm-dimensional space, where $m\ne n$.
False
解释：Deforming a space by stretching cannot change its dimension.

Lecture Comprehension, Configuration Space Representation (Chapter 2.3.2)

1.True or false? An explicit parametrization uses fewer numbers to represent a configuration than an implicit representation.
True

2.A k-dimensional space is represented by 7 coordinates subject to 3 independent constraints. What is k?
4
解释：7-3；The number of degrees of freedom is equal to the number of coordinates minus the number of independent constraints on those coordinates.

Lecture Comprehension, Configuration and Velocity Constraints (Chapter 2.4)

1.True or false? A nonholonomic constraint implies a configuration constraint.
False

2.True or false? A Pfaffian velocity constraint is necessarily nonholonomic.
False

3.A wheel moving in free space has the six degrees of freedom of a rigid body. If we constrain it to be upright on a plane (no “leaning”) and to roll without slipping, how many holonomic and nonholonomic constraints is the wheel subject to?
Two holonomic constraint and two nonholonomoc constraints.
Hint: If n variables are needed to represent the configuration of the wheel, then there must be 6−n holonomic constraints on the wheel.

4.How many degrees of freedom does the upright wheel on the plane have? (What is the minimum number of coordinates needed to describe its configuration?)
4
Hint: Consider the contact location on the plane, heading angle of the wheel, and the angle to the “air nozzle” on the wheel.

Lecture Comprehension, Task Space and Workspace (Chapter 2.5)

1.If the task is to control the orientation of a spaceship simulator, but not its position, how many degrees of freedom does the task space have?
3

2.True or false? The workspace depends on the robot’s joint limits but the task space does not.
True

Chapter 2.3 through 2.5, Configuration Space

1.The tip coordinates for the two-link planar 2R robot of figure below are given by
(In other words, link 1 has length 1 and link 2 has length 2.) The joint angles have no limits.
Which of the following best describes the shape of the robot’s workspace (the set of locations the endpoint can reach)?
Annulus or ring

2.The chassis of a mobile robot moving on a flat surface can be considered as a planar rigid body. Assume that the chassis is circular, and the mobile robot moves in a square room. Which of the following could be a mathematical description of the C-space of the chassis while it is confined to the room? (See Chapter 2.3.1 for related discussion.)
a,b a,b S1

3.Which of the following is a possible mathematical description of the C-space of a rigid body in 3-dimensional space?
R3xS2xS1
解释：首先是平面内的3个点，然后是3个角度（Pitch,Yaw,Roll）;This follows from the reasoning in Chapter 2.1 when we counted the degrees of freedom of a rigid body. R3 is for the placement of the first point, $S^2$ is for the placement of the second point on the surface of a sphere, and $S^1$ is for the placement of the third point on a circle.

4.A spacecraft is a free-flying rigid body with a 7R arm mounted on it. The joints have no joint limits. Give a mathematical description of the C-space of this system. (See Chapter 2.3.1 for related discussion.)
R3xS2xT8

5.A mobile robot is moving on an infinite plane with an RPR robot arm mounted on it. The prismatic joint has joint limits, but the revolute joints do not. Give a mathematical description of the C-space of the chassis (which can rotate and translate in the plane) plus the robot arm. (See Chapter 2.3.1 for related discussion.)
R2xT3xa,b
解释：移动副有限制，转动副没有

6.Determine whether the following differential constraint is holonomic or not (nonholonomic). See the example in Chapter 2.4.
Nonholonomic

7.The task is to carry a waiter’s tray so that it is always horizontal (orthogonal to the gravity vector), but otherwise free to move in any other direction. How many degrees of freedom does the task space (the C-space of a horizontal tray) have? (Enter an integer number.)
4

WEEK 3

Lecture Comprehension, Introduction to Rigid-Body Motions (Chapter 3 through 3.1)

1.Which do we typically use to represent the C-space of a rigid body?
resent the C-space of a rigid body?
Implicit representation.

2.By the right-hand rule, which fingers of your right hand correspond to the x, y, and z axes of a coordinate frame, respectively?
Index, middle, thumb

3.When your thumb points along an axis of rotation, positive rotation about the axis is defined by the direction your fingers curl if you use which thumb?
Right thumb

4.When we refer to a frame attached to a moving body, we always consider a stationary frame {b}, because
{b} is the stationary frame that is coincident (at a particular instant) with the frame attached to the moving body.

Lecture Comprehension, Rotation Matrices (Chapter 3.2.1, Part 1 of 2)

1.For the rotation matrix $R_{ba}$ representing the frame {a} relative to {b},
the columns are the x, y, z axes of {a} written in {b} coordinates.

2.The $3\times 3$ rotation matrix is an implicit representation of spatial orientations consisting of 9 numbers subject to how many independent constraints?
6

3.The inverse of a rotation matrix $R_{ab}$ , i.e., $R_{ab}^{-1}$ , is (select all that apply):
$R_{ab}^T$
$R_{ba}$

4.Multiplication of SO(3)SO(3) rotation matrices is (select all that apply):
associative.

Lecture Comprehension, Rotation Matrices (Chapter 3.2.1, Part 2 of 2)

1.Which of the following is equivalent to $R_{ac}$, the representation of the orientation of the {c} frame relative to the {a} frame? Select all that apply.
All

2.The matrix
$R_{sb}R$

3.The matrix
$R{R}_{sb}$

Lecture Comprehension, Angular Velocities (Chapter 3.2.2)

1.Our representation of the three-dimensional orientation uses an implicit representation (a 3x3 SO(3) matrix with 9 numbers), but our usual representation of the angular velocity uses only three numbers, i.e., an explicit parametrization of the three-dimensional velocity space. Why do we use an implicit representation of the orientation but an explicit parametrization of the angular velocity?
The space of angular velocities can be equated to a “flat” 3d space (a linear vector space) tangent to the curved 3d surface of orientations at any given time, so it can be globally represented by 3 numbers without singularities. The space of orientations, on the other hand, is not flat, and cannot be globally represented by 3 numbers without a singularity.

2.A rotation matrix is an element of which space?
$SO(3)$

3.An angular velocity is an element of which space?
$R^3$

4.The 3x3 skew-symmetric matrix representation of an angular velocity is an element of which space?
$so(3)$

5.If an angular velocity is represented as ${\omega }_b$ in the body frame {b}, what is the representation of the same angular velocity in the space frame {s}?
$R_{sb}{\omega }_b$

6.The cross-product $\omega \times p$ can be written $[\omega ]p$, where $[\omega ]$ is
the skew-symmetric $so(3)$ representation of $\omega$.

Lecture Comprehension, Exponential Coordinates of Rotation (Chapter 3.2.3, Part 1 of 2)

1.The orientation of a frame {d} relative to a frame {c} can be represented by a unit rotation a
though we use 3 numbers to represent actually only represents a point in a 2-dimensional space, the 2-dimensional sphere of unit 3-vectors.

2.One reason we use 3x3 rotation matrices (an implicit representation) to represent orientation is because it is a good global representation: there is a unique orientation for each rotation matrix, and vice-versa, and there are no singularities in the representation. In what way does the 3-vector of exponential coordinates fail these conditions? Select all that apply.
There could be more than one set of exponential coordinates representing the same orientation.

3.The vector linear differential equation , where xx is a vector and BB is a constant square matrix, is solved as $x(t)=e^{Bt}x(0)$, where the matrix exponential $e^{Bt}$ is defined as
the sum of an infinite series of matrices of the form $(Bt)0+Bt+(Bt)2/2!+(Bt)3/3!\dots$

Lecture Comprehension, Exponential Coordinates of Rotation (Chapter 3.2.3, Part 2 of 2)

1.The solution to the differential equation
$R_{sb\prime }=Rsbe[{\omega }^{\theta }]$ represents the orientation of a new frame {b’} relative to {s} after the frame {b} has been rotated by \thetaθ about an axis w represented in the {b} frame as ω^.
s

2.The simple closed-form solution to the infinite series for the matrix exponential when the matrix is an element of so(3)so(3) (a skew-symmetric 3x3 matrix) is called what?
Rodrigues’s formula

3.The matrix exponential and the matrix log relate a rotation matrix (an element of SO(3)SO(3)) and the skew-symmetric representation of the exponential coordinates (elements of so(3)so(3)), which can also be thought of as the so(3)so(3) representation of the angular velocity followed for unit time. Which of the following statements is correct? Select all that apply.
exp:so(3)->SO(3)
log:SO(3)->so(3)

Chapter 3 through 3.2, Rigid-Body Motions

1.In terms of the
[[0,1,0],[0,0,1],[1,0,0]]

2.Referring to your drawing from Question 1, write
[[1,0,0],[0,0,-1],[0,1,0]]

3.Referring to your drawing from Question 1, write
[[0,-1,0],[1,0,0],[0,0,1]]

4.Referring back to Question 1
a

5.Referring back to Question 1, use
[1,3,-2]

6.Referring back to Question 1, choose a point p represented by
Yes

7.Referring back to Question 1, an angular velocity ww is represented in {s}
[1,3,2]

8.Referring back to Question 1, calculate the matrix logarithm $[\hat{\omega }]\theta$ of $R_{sa}$ by hand. (You may verify your answer with software.) Extract and enter the rotation amount $\theta$ in radians with at least two decimal places.
2.09
解释：（中文书是52页有记载）
trR=1+2cos(θ)
and trR = R’s diagonal sum = 0
cos(θ)=-1/2
so θ=2*pi/3 (<pi)
You can see more information on textbook Page 84（这是英文pdf版的页数）

9.Calculate the matrix exponential corresponding to the exponential coordinates of rotation $\hat{\omega }\theta =(1,2,0{)}^T$. The maximum allowable error for any matrix element is 0.01, so give enough decimal places where necessary.
[[-0.29,0.65,0.70],[0.65,0.68,-0.35],[-0.70,0.35,-0.62]]
解释：MATLAB代码：

MatrixExp3(VecToso3([1 2 0]'))

10.Write the $3\times 3$ skew-symmetric matrix corresponding to $\omega =(1,2,0.5{)}^T$. Confirm your answer using the function VecToso3 in the given software.
[[0,-0.5,2],[0.5,0,-1],[-2,1,0]]

11.Use the function MatrixExp3 in the given software to calculate the rotation matrix R∈SO(3) corresponding to the matrix exponential of
[[0.60,0.79,-0.01],[0.47,-0.34,0.81],[0.64,-0.50,-0.58]]

12.Use the function MatrixLog3 in the given software to calculate the matrix logarithm [ω^]θ∈so(3) of rotation matrix
[[0,1.21,1.21],[-1.21,0,1.21],[-1.21,-1.21,0]]