本課程主要在學習機械手臂在分析面的運動學和軌跡規劃。 學習目標： 1.瞭解物體在空間中運動的描述方式 2.瞭解多關節機械手臂的順逆運動學 3.瞭解運動軌跡的規劃方式。
Offered By
機器人學一 (Robotics (1))
National Taiwan University
Syllabus - What you will learn from this course
Week
12 hours to complete
物體在空間運動之描述 (一)
1.描述一個剛體在空間中3個自由度的移動狀態 2.瞭解描述空間中轉動的旋轉矩陣（Rotation matrix）的運算和使用方法
7 videos (Total 72 min), 4 readings, 2 quizzes
7 videos
機器人學導論13m
1-1_導論6m
1-2_移動3m
1-3_轉動9m
1-4_Rotation Matrix 114m
1-4_Rotation Matrix 29m
1-4_Rotation Matrix 313m
4 readings
【製作團隊】10m
數學輔助軟體: Matlab10m
邀請您花 4 mins 寫下你對這堂課的看法（Pre-Survey）10m
參考書籍/課程投影片10m
2 practice exercises
多答案題目輸入方法4m
Quiz 116m
Week
22 hours to complete
物體在空間運動之描述 (二)
1.瞭解Fixed angles和Euler angles的運算和使用方法 2.瞭解可描述移動和轉動的transformation matrix的運算和使用方法
9 videos (Total 89 min), 1 reading, 1 quiz
9 videos
2-2_Fixed Angles 19m
2-2_Fixed Angles 26m
2-3_Euler Angles 19m
2-3_Euler Angles 29m
2-4_Mapping14m
2-5_Operators 110m
2-5_Operators 25m
2-6_Trans Matrix18m
1 reading
補充資料一 - 觀察座標系的旋轉10m
1 practice exercise
Quiz 214m
Week
32 hours to complete
機械手臂順運動學
1.針對平面二維手臂，瞭解如何由已知的手臂末端點狀態求解手臂各關節狀態 2.瞭解如何以Pieper’s solution進行空間六個自由度機械手臂的逆向運動學計算
9 videos (Total 103 min), 1 quiz
9 videos
3-1_順向運動學引言10m
3-2_手臂幾何描述12m
3-3_DH表達法8m
3-4_Link Trans 18m
3-4_Link Trans Example 114m
3-4_Link Trans 3 Example 27m
3-5_Actuator, Joint, and Cartesian Spaces10m
3-6_DH表達法小結 120m
3.6_DH 表達法小結 2 Example10m
1 practice exercise
Quiz 310m
Week
42 hours to complete
機械手臂逆運動學
1.針對平面二維手臂，瞭解如何由已知的手臂末端點狀態求解手臂各關節狀態 2.瞭解如何以Pieper’s solution進行空間六個自由度機械手臂的逆向運動學計算
7 videos (Total 101 min), 1 reading, 1 quiz
7 videos
4-1_逆向運動學引言17m
4-2_多重解 115m
4-2_多重解 2 Example 19m
4-2_多重解 3 Example 213m
4-3_Pieper's Solution 117m
4-3_Pieper's Solution 28m
4-4_物件取放任務18m
1 reading
「4-4 物件取放任務」 教材勘誤補充10m
1 practice exercise
Quiz 416m
Instructor
林沛群
教授兼副系主任 (Professor and Associate Chair)機械工程學系 (Department of Mechanical Engineering)
About National Taiwan University
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