高等機器人學實習

臺北科技大學 114-2 學期課程，課號 356008。

課程大綱

Advanced Robotics Lab (ARLab) course is offered with all experimental in-class projects, same as its previous version “Advanced Robotics and Automation Applications (ARAA)”. Compared with Advanced Robotics Manipulation (ARM) course, this Advanced Robotics Lab (ARLab) course is offered for graduate students with programming experience, but no particular prerequisites, such as Advanced Robotics Manipulation (ARM), are required. ARLab focuses on projects in the areas of mobile robotics, manipulators, visual servoing, SLAM, and automation. The goals of the course can be summarized as below: [Projects will be arranged based on available equipment] 1. Mobile Robot Control Project: Visual Tracking, Eye-in-Hand, Eye-to-Hand 2. Mobile Robot Navigation Project: Manual Mapping, Autonomous Mapping, Localization and Navigation, SLAM and Navigation 3. Manipulator Control Project: Workpiece Picking & Placing, Visual Tracking, Eye-in-Hand, Eye-to-Hand Course handouts will be available via iStudy web. In addition to homework assignments, all projects must be completed and evaluated in class under supervision of Professor and TAs with particular attention to equipment operation safety.

課程進度

Tentative schedule 1 02/25 Introduction 2 03/04 Mobile Robot Control Project: Visual Tracking 3 03/11 Mobile Robot Control Project: Eye-in-Hand 4 03/18 Mobile Robot Control Project: Eye-to-Hand 5 03/25 Mobile Robot Navigation Project: Manual Mapping 6 04/01 Mobile Robot Navigation Project: Autonomous Mapping 7 04/08 Mobile Robot Navigation Project: Localization and Navigation 8 04/15 Mobile Robot Navigation Project: SLAM and Navigation 9 04/22 Tutorials on Simulations & Real-Time Experiments of UR3 10 04/29 Manipulator Control Project: Workpiece Picking & Placing 11 05/06 Manipulator Control Project: Visual Tracking 12 05/13 Manipulator Control Project: Eye-in-Hand 13 05/20 Manipulator Control Project: Eye-to-Hand 14 05/27 Paper presentation & Final Project (1/4) 15 06/03 Paper presentation & Final Project (2/4) 16 06/10 Paper presentation & Final Project (3/4) 17 06/17 Paper presentation & Final Project (4/4) 18 06/24 Final Presentation and Demo Final Project Report Due PS: The contents and order of lectures and projects will be adjusted according to actual needs

評量方式

The final grade will be a weighted average of attendance and homework 10%, in-class projects 60%, and final project (including proposal, presentation, and report) 30%.

教材

【遵守智慧財產權觀念，請使用正版教科書，不得使用非法影印教科書】 使用外文原文書：是 1. Introduction to Robotics: Mechanics and Control, John J. Craig, Addison-Wesley Publishing Company. 2. Robotics, Vision and Control: Fundamental Algorithms in MATLAB, Springer by Peter Corke, Publication Year: 2013 | ISBN 3642201431 | 1st Edition