機器人學一 (Robotics (1))

National Taiwan University

About this Course

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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。

Learner Career Outcomes

50%

got a tangible career benefit from this course

50%

got a pay increase or promotion

Shareable Certificate

Earn a Certificate upon completion

100% online

Start instantly and learn at your own schedule.

Flexible deadlines

Reset deadlines in accordance to your schedule.

Beginner Level

Approx. 17 hours to complete

Chinese (Traditional)

Subtitles: Chinese (Traditional)

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)

6,717 Learners

1 Course

Learner Career Outcomes

50%

got a tangible career benefit from this course

50%

got a pay increase or promotion

Shareable Certificate

Earn a Certificate upon completion

100% online

Start instantly and learn at your own schedule.

Flexible deadlines

Reset deadlines in accordance to your schedule.

Beginner Level

Approx. 17 hours to complete

Chinese (Traditional)

Subtitles: Chinese (Traditional)

Offered by

National Taiwan University

We firmly believe that open access to learning is a powerful socioeconomic equalizer. NTU is especially delighted to join other world-class universities on Coursera and to offer quality university courses to the Chinese-speaking population. We hope to transform the rich rewards of learning from a limited commodity to an experience available to all.

Syllabus - What you will learn from this course

Week

Week 1

3 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

3 hours to complete

7 videos (Total 72 min), 3 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

3 readings

【製作團隊】1m

數學輔助軟體: Matlab10m

參考書籍/課程投影片10m

2 practice exercises

多答案題目輸入方法30m

Quiz 130m

Week

Week 2

2 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 hours to complete

9 videos (Total 89 min), 1 reading, 1 quiz

9 videos

2-1_Rotation Matrix與轉角5m

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 230m

Week

Week 3

2 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 hours to complete

9 videos (Total 103 min)

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 330m

Week

Week 4

2 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 hours to complete

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 430m

Week

Week 5

2 hours to complete

機械手臂軌跡規劃 (一)

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 hours to complete

8 videos (Total 99 min), 1 reading, 1 quiz

8 videos

5-1_機械手臂軌跡規劃引言9m

5-2_Joint Space下的軌跡規劃12m

5-3_Cartesian Space下的軌跡規劃5m

5-4_Cubic Polynomials15m

5-5_多段Cubic Polynomials21m

5-6_General Cubic Polynomials 19m

5-6_General Cubic Polynomials 2 Example 115m

5-6_General Cubic Polynomials 3 Example 29m

1 reading

補充資料二 - 觀察Cubic Spline軌跡動畫10m

1 practice exercise

Quiz 530m

Week

Week 6

3 hours to complete

機械手臂軌跡規劃 (二)

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

3 hours to complete

9 videos (Total 96 min), 1 reading, 2 quizzes

9 videos

6-1_Linear Function with Parabolic Blends 114m

6-1_Linear Function with Parabolic Blends 212m

6-2_多段Linear Function with Parabolic Blends 111m

6-2_多段Linear Function with Parabolic Blends 210m

6-3_Linear Function with Parabolic Blends註解 19m

6-3_Linear Function with Parabolic Blends註解 29m

6-4_Cartesian Space下軌跡幾何限制6m

6-5_Revisit the RRR Manipulator 110m

6-5_Revisit the RRR Manipulator 210m

1 reading

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

1 practice exercise

Quiz 630m

Week

Week 7

2 hours to complete

手臂軌跡規劃實例

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。

2 hours to complete

5 videos (Total 78 min), 1 reading, 1 quiz

5 videos

7-1_機械手臂軌跡規劃實例19m

7-2_軌跡規劃實例方法一 112m

7-2_軌跡規劃實例方法一 215m

7-3_軌跡規劃實例方法二16m

7-4_註解14m

1 reading

Week 7 教材勘誤10m

1 practice exercise

Quiz 730m

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機器人學一 (Robotics (1))