機器人學

臺北科技大學 114-2 學期課程，課號 359260。

課程大綱

Robotics course is offered to junior or senior undergraduate students interested in learning fundamentals of robotics. In addition to lectures on robotic manipulation, oral presentations and reports on robotics papers are required. Main topics in the course are as follow. 機器人學適合對機器人領域有興趣的大三或大四大學生修習，除教授機器人學相關學習內容外，鼓勵修課同學閱讀相關論文並演示簡報與撰寫報告，課程相關主題如下： 1. Spatial descriptions and transformations 空間描述與數學轉換 2. Manipulator kinematics 機械臂運動學 3. Manipulator inverse kinematics 機械臂反向運動學 4. EKF-SLAM 擴展卡爾曼濾波器同步定位與建圖 5. Paper presentation and report 論文簡報與書面報告。 Course handouts will be available via iStudy web. A number of homework questions, based on problem sets in the textbook, will be assigned for students to complete in class in an open-book fashion. Each student is required to make an oral presentation and submit a report based on a technical paper in related topics. 本課程於每週課前公布講義於北科i學園+，修課同學將於課堂中開卷完成特選作業問題，藉以評估作業及學習狀況。期末簡報應研讀相關論文、撰寫書面報告並於課堂上口頭報告。

課程進度

Tentative schedule 暫定課程進度 1 02/25&02/26 簡介 Introduction 2 03/04&03/05 空間描述Spatial descriptions 3 03/11&03/12 轉換 Transformations 4 03/18&03/19 方向表示 Representations for orientation 5 03/25&03/26 連桿描述 Link description 6 04/01&04/02 連桿座標系統 Affixing frames to links 7 04/08&04/09 連桿轉換 Link transformations 8 04/15&04/16 順向運動學範例 Forward kinematics examples 9 04/22&04/23 期中考 Midterm examination 10 04/29&04/30 代數與幾何解 Algebraic vs geometric solutions 11 05/06&05/07 皮珀的解決方案 Pieper’s solution 12 05/13&05/14 雅可比速度 Jacobians for velocities 13 05/20&05/21 擴展卡爾曼濾波器Extended Kalman Filter 14 05/27&05/28 運動與測量Motion And Measurement 15 06/03&06/04 擴展卡爾曼濾波器同步定位與建圖EKF-SLAM 16 06/10&06/11 期末簡報 Final presentations (1/2) 17 06/17&06/18 期末簡報 Final presentations (2/2) 18 06/24&06/25 期末報告繳交 Final report due PS: The contents and order of lectures and final presentations will be adjusted according to actual needs上述授課與期末簡報之順序將因應實際狀況調整

評量方式

The final grade will be a weighted average of attendance 10%, in-class open-book homework 30%, midterm 30%, paper presentation and report 30%. 學期成績權重比例為出席10%、課堂開卷作業30%，期中考30%，論文簡報與書面報告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 Introduction to Robotics: Mechanics and Control, John J. Craig, Addison-Wesley Publishing Company.