機器人學一 (Robotics (1))

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機器人學一 (Robotics (1))

Instructor: 林沛群

14,828 already enrolled

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7 modules

Gain insight into a topic and learn the fundamentals.

64 reviews

Beginner level

No prior experience required

2 weeks to complete

at 10 hours a week

Flexible schedule

Learn at your own pace

7 modules

Gain insight into a topic and learn the fundamentals.

64 reviews

Beginner level

No prior experience required

2 weeks to complete

at 10 hours a week

Flexible schedule

Learn at your own pace

Skills you'll gain

Details to know

Shareable certificate

Add to your LinkedIn profile

Assessments

8 assignments¹

AI Graded see disclaimer

Taught in Chinese (Traditional)

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There are 7 modules in this course

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。

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

What's included

7 videos3 readings2 assignments

7 videos Total 72 minutes

機器人學導論 14 minutes
1-1_導論 7 minutes
1-2_移動 4 minutes
1-3_轉動 10 minutes
1-4_Rotation Matrix 1 14 minutes
1-4_Rotation Matrix 2 10 minutes
1-4_Rotation Matrix 3 14 minutes

3 readings Total 21 minutes

【製作團隊】 1 minute
數學輔助軟體: Matlab 10 minutes
參考書籍/課程投影片 10 minutes

2 assignments Total 60 minutes

多答案題目輸入方法 30 minutes
Quiz 1 30 minutes

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

What's included

9 videos1 reading1 assignment

9 videos Total 89 minutes

2-1_Rotation Matrix與轉角 5 minutes
2-2_Fixed Angles 1 10 minutes
2-2_Fixed Angles 2 7 minutes
2-3_Euler Angles 1 9 minutes
2-3_Euler Angles 2 10 minutes
2-4_Mapping 15 minutes
2-5_Operators 1 10 minutes
2-5_Operators 2 6 minutes
2-6_Trans Matrix 18 minutes

1 reading Total 10 minutes

補充資料一 - 觀察座標系的旋轉 10 minutes

1 assignment Total 30 minutes

Quiz 2 30 minutes

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

What's included

9 videos1 assignment

9 videos Total 103 minutes

3-1_順向運動學引言 10 minutes
3-2_手臂幾何描述 12 minutes
3-3_DH表達法 9 minutes
3-4_Link Trans 1 9 minutes
3-4_Link Trans Example 1 15 minutes
3-4_Link Trans 3 Example 2 7 minutes
3-5_Actuator, Joint, and Cartesian Spaces 11 minutes
3-6_DH表達法小結 1 20 minutes
3.6_DH 表達法小結 2 Example 10 minutes

1 assignment Total 30 minutes

Quiz 3 30 minutes

What's included

7 videos1 reading1 assignment

7 videos Total 101 minutes

4-1_逆向運動學引言 17 minutes
4-2_多重解 1 15 minutes
4-2_多重解 2 Example 1 9 minutes
4-2_多重解 3 Example 2 14 minutes
4-3_Pieper's Solution 1 17 minutes
4-3_Pieper's Solution 2 9 minutes
4-4_物件取放任務 19 minutes

1 reading Total 10 minutes

「4-4 物件取放任務」教材勘誤補充 10 minutes

1 assignment Total 30 minutes

Quiz 4 30 minutes

1.瞭解如何以Cubic polynomials來規劃位置、速度、加速度連續的運動軌跡 2.以平面三個自由度機械手臂為例進行演算

What's included

8 videos1 reading1 assignment

8 videos Total 99 minutes

5-1_機械手臂軌跡規劃引言 10 minutes
5-2_Joint Space下的軌跡規劃 12 minutes
5-3_Cartesian Space下的軌跡規劃 6 minutes
5-4_Cubic Polynomials 15 minutes
5-5_多段Cubic Polynomials 22 minutes
5-6_General Cubic Polynomials 1 9 minutes
5-6_General Cubic Polynomials 2 Example 1 16 minutes
5-6_General Cubic Polynomials 3 Example 2 9 minutes

1 reading Total 10 minutes

補充資料二 - 觀察Cubic Spline軌跡動畫 10 minutes

1 assignment Total 30 minutes

Quiz 5 30 minutes

1.瞭解如何以linear function with parabolic blends來規劃可等速直線運動的運動軌跡 2.以平面三個自由度機械手臂為例進行演算

What's included

9 videos1 reading1 assignment1 peer review

9 videos Total 96 minutes

6-1_Linear Function with Parabolic Blends 1 15 minutes
6-1_Linear Function with Parabolic Blends 2 13 minutes
6-2_多段Linear Function with Parabolic Blends 1 11 minutes
6-2_多段Linear Function with Parabolic Blends 2 10 minutes
6-3_Linear Function with Parabolic Blends註解 1 10 minutes
6-3_Linear Function with Parabolic Blends註解 2 10 minutes
6-4_Cartesian Space下軌跡幾何限制 6 minutes
6-5_Revisit the RRR Manipulator 1 10 minutes
6-5_Revisit the RRR Manipulator 2 11 minutes

1 reading Total 10 minutes

補充資料三 - 觀察Linear Function with Parabolic Blends軌跡動畫 10 minutes

1 assignment Total 30 minutes

Quiz 6 30 minutes

1 peer review Total 120 minutes

Final Project - 設計你的機械手臂 120 minutes

本單元為課程的總整應用案例，討論如何以六個自由度機械手臂來進行人類常進行的物件移動任務，而具體目標為將物件（杯子）由桌面拿起掛到牆上的杯架上。需使用到近乎整門課程所學的內容。

What's included

5 videos1 reading1 assignment

Instructor

Instructor ratings

(10 ratings)

林沛群

National Taiwan University

1 Course 14,828 learners

Offered by

National Taiwan University

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Reviewed on Sep 7, 2017

it will be better if the professor scratch in the slide with the pen instead of po

Reviewed on Sep 21, 2017

雖然我原本有學過一點機器人正逆運動學的計算，但本課程令我更深入的瞭解有不同的表示法、計算方法，並且自己學會使用MATLAB來運算一些較複雜的數學式，但學習門檻較高，必須有數學基礎、程式設計基礎的同學才較容易吸收學習。

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