機器人學

臺北科技大學 114-2 學期課程，課號 359299。

課程大綱

Prerequisite courses: Linear Algebra, Differential Equations, Trigonometry, Dynamics, Automatic Control Systems, and Electrical Engineering. Syllabus: This course will teach students kinematic analysis methods, trajectory motion technologies, dynamic analysis methods, and force control methods for manipulators and robot arms. It will enable students to perform robotics research and develop applications in the future. This course first introduces the architectures and industrial applications of various fix-based manipulators and robot arms. Subsequently, this course will cover detailed methods and technologies including kinematic analysis, path and trajectory planning, dynamic analysis, and control design and analysis.

課程進度

● Introduction (Lecture Note #1) ● Rigid Motions and Homogeneous Transformations (Lecture Note #2) ● Test #1 ● Forward and Inverse Kinematics (Lecture Note #3) ● Velocity Kinematics – The Jacobian (Lecture Note #4) ● Test #2 ● Independent Joint Control (Lecture Note #5) ● Path and Trajectory Planning (Lecture Note #6) ● Dynamics (Lecture Note #7) ● Multivariable Control (Lecture Note #8) ● Force Control (Lecture Note #9) ● Test #3

評量方式

Test #1: 35% Test #2: 35% Test #3: 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 Robot Modeling and Control, M. K. Spong, S. Hutchinson, M. Vidyasagar, WILEY, 2006. DeltaMOOCx: Robotics (http://tech.deltamoocx.net/)