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Modern Robotics: Mechanics, Planning, and Control – Free Textbook (2017)

hades.mech.northwestern.edu

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Re: Modern Robotics: Mechanics, Planning, and Control – Free Textbook (2017)

#2

Post by TheCuriousGuy »

Thanks.

I will highly recommend reading this textbook along with RM Murray's "A Mathematical Introduction to Robotic Manipulation" [1]. Both of these textbooks provide very intuitive and clear cut explaination of principles behing robotic motion and planning.

I would also highly recommend completing a 5-course specialization on Coursera [2] by the same name as the first textbook. The course is conducted by the author, he uses plenty of great visualization to explain the concepts clearly and the course follows the textbook.

1. https://www.cds.caltech.edu/~murray/books/MLS/pdf/mls94-comp...

2. https://www.coursera.org/specializations/modernrobotics

Re: Modern Robotics: Mechanics, Planning, and Control – Free Textbook (2017)

#5

Post by wonjohnchoi »

msadowski wrote: post #4

Thanks for the link! That seems super interesting! You just made me regret publishing Weekly Robotics couple of hours ago. This link would make for a great addition!

This made me interested what Weekly Robotics is about and just did a search on it. It seems useful. I put link for you: https://weeklyrobotics.com/

Re: Modern Robotics: Mechanics, Planning, and Control – Free Textbook (2017)

#6

Post by ngcc_hk »

wonjohnchoi wrote: post #5
msadowski wrote: post #4

Thanks for the link! That seems super interesting! You just made me regret publishing Weekly Robotics couple of hours ago. This link would make for a great addition!

This made me interested what Weekly Robotics is about and just did a search on it. It seems useful. I put link for you: https://weeklyrobotics.com/

Well beyond my level. But good to scan through

Re: Modern Robotics: Mechanics, Planning, and Control – Free Textbook (2017)

#8

Post by pvarangot »

mrcoder111 wrote: post #7

The topology part of these textbooks is the hardest for me. Understanding the 2d representations of the shapes. Where can one get a more bottom up explanation of the crucial topology concepts? Also bad at geometry in general

Control or spatial-related DSP has a lot of geometry going on and it's really hard to get with a good working knowledge. I don't know if there's a short path. Start with a good linear algebra course maybe in parallel to actually trying to solve or hack though the type of problems you want to solve, and thinking about how the basic stuff you are learning complements with the high level one.

Besides the courses recommended here this are other online materials related to planning, location and control I found really useful and consider to be high quality:

https://github.com/rlabbe/Kalman-and-Bayesian-Filters-in-Pyt... https://www.coursera.org/learn/mobile-robot

For Linear Algebra I really like Strang's course on OCW taken together with reading through his book.

Re: Modern Robotics: Mechanics, Planning, and Control – Free Textbook (2017)

#9

Post by mrcoder111 »

pvarangot wrote: post #8
mrcoder111 wrote: post #7

The topology part of these textbooks is the hardest for me. Understanding the 2d representations of the shapes. Where can one get a more bottom up explanation of the crucial topology concepts? Also bad at geometry in general

Control or spatial-related DSP has a lot of geometry going on and it's really hard to get with a good working knowledge. I don't know if there's a short path. Start with a good linear algebra course maybe in parallel to actually trying to solve or hack though the type of problems you want to solve, and thinking about how the basic stuff you are learning complements with the high level one. Besides the courses recomme…

I took a linear algebra course. Maybe I need to restudy but I would rather have links to exact chapters than reading the whole thing, as I don't see a direct path from the linear algebra I studied to the topology concepts and geometry here. Specifically there weren't any curves in linear algebra. Ex 4.10 and 4.11 here: http://planning.cs.uiuc.edu/node143.html

Are examples of things that are hard for me to understand. Especially that 2d picture in 4.11

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