Robotics - 105 Academic Year
本課程是由 國立陽明交通大學電機工程學系 提供。
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。
Textbook：
1. Richard P. Paul, Robot Manipulators: Mathematics, Programming, and Control, MIT Press, 1981.
2. Lorenzo Sciavicco and Bruno Siciliano, Modeling and Control of Robot Manipulators, McGraw-Hill, 2005.
3. Related books and papers.
For perfect learning results, please buy textbooks!
| Instructor(s) | College of Electrical and Computer Engineering Prof. Gu-Yang Yang |
|---|---|
| Course Credits | 3 Credits |
| Academic Year | 105 Academic Year |
| Level | College Students, Graduate Student |
| Prior Knowledge | Highly interested in robotics, Hardworking and Patient |
| Related Resources | Course Video Course Syllabus Course Calendar |
| Week | Course Content | Course Video |
|---|---|---|
| 機器人學-課程介紹 | Watch Online | |
| 單元零 機器人時代的來臨 | Watch Online | |
| 單元一 Introduction | Watch Online | |
| 單元二 Spatial Representation and Transformation (1/2) | Watch Online | |
| 單元二 Spatial Representation and Transformation (2/2) | Watch Online | |
| 單元三 Kinematics and Inverse Kinematics (1/4) | Watch Online | |
| 單元三 Kinematics and Inverse Kinematics (2/4) | Watch Online | |
| 單元三 Kinematics and Inverse Kinematics (3/4) | Watch Online | |
| 單元三 Kinematics and Inverse Kinematics (4/4) | Watch Online | |
| 單元四 Differential Relationship (1/3) | Watch Online | |
| 單元四 Differential Relationship (2/3) | Watch Online | |
| 單元四 Differential Relationship (3/3) | Watch Online | |
| 單元五 Motion Planning (1/4) | Watch Online | |
| 單元五 Motion Planning (2/4) | Watch Online | |
| 單元五 Motion Planning (3/4) | Watch Online | |
| 單元五 Motion Planning (4/4) | Watch Online | |
| 單元六 Dynamics (1/3) | Watch Online | |
| 單元六 Dynamics (2/3) | Watch Online | |
| 單元六 Dynamics (3/3) | Watch Online | |
| 單元七 Robot Control and Compliance (1/5) | Watch Online | |
| 單元七 Robot Control and Compliance (2/5) | Watch Online | |
| 單元七 Robot Control and Compliance (3/5) | Watch Online | |
| 單元七 Robot Control and Compliance (4/5) | Watch Online | |
| 單元七 Robot Control and Compliance (5/5) | Watch Online | |
| 單元八 A Multi-Functional Virtual Manipulation System | Watch Online | |
| 單元九 A Networked VR-Based Telerobotic System | Watch Online |
課程目標
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。
課程章節
| 章節 | 章節內容 |
| 多軸機器人系統 | Kinematics and Inverse Kinematics, Motion Planning, Dynamics, Robot control |
| 機器人模擬系統 | 建立軟體機器人 |
| 機器人實驗 | 參觀機器人實驗室與機器人操作 |
課程書目
1. Richard P. Paul, Robot Manipulators: Mathematics, Programming, and Control, MIT Press, 1981.
2. Lorenzo Sciavicco and Bruno Siciliano, Modeling and Control of Robot Manipulators, McGraw-Hill, 2005.
3. Related books and papers.
評分標準
| 項目 | 百分比 |
| Midterm exam | 20% |
| Final exam | 40% |
| Homework | 40% |
本課程行事曆提供課程進度與考試資訊參考。
學期週次 | 上課日期 | 參考課程進度 |
第一週 | 2016/09/16 |
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| 第二週 | 2016/09/23 |
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| 第三週 | 2016/09/30 |
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| 第四週 | 2016/10/07 |
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| 第五週 | 2016/10/14 |
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| 第六週 | 2016/10/21 |
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| 第七週 | 2016/10/28 |
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| 第八週 | 2016/11/04 |
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| 第九週 | 2016/11/11 |
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| 第十週 | 2016/11/18 |
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| 第十一週 | 2016/11/25 |
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| 第十二週 | 2016/12/02 |
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| 第十三週 | 2016/12/09 |
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| 第十四週 | 2016/12/16 |
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| 第十五週 | 2016/12/23 |
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| 第十六週 | 2016/12/30 |
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| 第十七週 | 2017/01/06 |
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| 第十八週 | 2017/01/13 |
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