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。

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Flexible deadlines

Reset deadlines in accordance to your schedule.

Beginner Level

Approx. 35 hours to complete

Suggested: 7 hours/week...

Chinese (Traditional)

Subtitles: Chinese (Traditional)

100% online

Start instantly and learn at your own schedule.

Flexible deadlines

Reset deadlines in accordance to your schedule.

Beginner Level

Approx. 35 hours to complete

Suggested: 7 hours/week...

Chinese (Traditional)

Subtitles: Chinese (Traditional)

Syllabus - What you will learn from this course

Week

1

2 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

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.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

2-1_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 214m

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.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

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.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

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.以平面三個自由度機械手臂為例進行演算

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 512m

Week

6

4 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 2.以平面三個自由度機械手臂為例進行演算

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 616m

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。

5 videos (Total 78 min), 2 readings, 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

2 readings

Week 7 教材勘誤10m

邀請您寫下參與課程後的想法（Post-Survey）10m

1 practice exercise

Quiz 730m

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)

Frequently Asked Questions

When will I have access to the lectures and assignments?
Once you enroll for a Certificate, you’ll have access to all videos, quizzes, and programming assignments (if applicable). Peer review assignments can only be submitted and reviewed once your session has begun. If you choose to explore the course without purchasing, you may not be able to access certain assignments.
What will I get if I purchase the Certificate?
When you purchase a Certificate you get access to all course materials, including graded assignments. Upon completing the course, your electronic Certificate will be added to your Accomplishments page - from there, you can print your Certificate or add it to your LinkedIn profile. If you only want to read and view the course content, you can audit the course for free.
What is the refund policy?
Is financial aid available?

More questions? Visit the Learner Help Center.

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