機器人學
Robotics
| 節 | 週三 |
|---|---|
2 09:00–09:50 | 機器人學 EE102 3 節連堂 |
3 10:10–11:00 | |
4 11:10–12:00 |
* 根據陽明交大上課時間表所列
本課程旨在提供機器人學之專業知識,讓同學深入了解機器人的內涵,課程以多軸機器人系統為主,詳細介紹其定義、系統架構、靜力結構限制、路徑規畫、動力學、控制、遙控操作、以及機器人與社會等,修課同學需實踐一軟體機器人模擬系統。 This course is intended for the study of robotics. It is mainly based on the multiple degree-of-freedom industrial robot manipulator, including its defintion, system structure, kinematics, dynamics, path planning, control, teleoperation, and others. The students need to develop a robot simulator as the term project.
1. 對機器人學具高度興趣 (highly interested in robotics) 2. 用功、有耐心 (work hard and be patient)
助教 (TA) 機器人模擬系統建立 (Robot simulator development) 機器人實驗室參觀 (Robot laboratory visit)
Homework: 40% Midterm: 20% Term Project: 40%
- 多軸機器人系統 (multi-joint robt system)
- 機器人模擬系統 (robot simulator)
- 機器人實驗 (robot lab.)
| 週次 | 主題 |
|---|---|
| 第 1 週 | Introduction |
| 第 2 週 | Industrial Robots |
| 第 3 週 | System Overview |
| 第 4 週 | Spatial Transformation + Lab. Tour |
| 第 5 週 | Spatial Transformation |
| 第 6 週 | Kinematics and Inverse Kinematics |
| 第 7 週 | Kinematics and Inverse Kinematics |
| 第 8 週 | Differential Relationship |
| 第 9 週 | Differential Relationship |
| 第 10 週 | Motion Planning |
| 第 11 週 | Motion Planning |
| 第 12 週 | Midterm |
| 第 13 週 | Dynamics |
| 第 14 週 | Dynamics |
| 第 15 週 | Robot Control |
| 第 16 週 | Compliance Control |
| 第 17 週 | National Holiday |
| 第 18 週 | Final Project |
Richard P. Paul, Robot Manipulators: Mathematics, Programming, and Control, MIT Press, 1981 Lorenzo Sciavicco and Bruno Siciliano, Modeling and Control of Robot Manipulators, McGraw-Hill, 2005 Related books and papers Note for OCW Robotics course
- 地點
- 工程五館710室 (EE 710)
- 時間
- 9.30-11.30 am, 星期四 (9.30-11.30 am, Thursday) 或另行約定 (or by appintment)
- 聯絡方式
- (O) 5712121-54366 email: kyoung@mail.nctu.edu.tw