高等機器人學

臺北科技大學 115-1 學期課程，課號 366465。

課程大綱

Advanced robotic manipulation is offered to graduate students interested in learning issues in design and analysis of robotics. In addition to lectures on advances in robotic manipulation and/or mobile robotics, oral presentations and reports on robotics research papers are required. Main topics in the course are as follow. 1. Spatial descriptions, transformations, and representations for orientation 2. Manipulator kinematics 3. Manipulator inverse kinematics 4. Jacobians: velocities and static forces 5. Manipulator dynamics 6. Trajectory generation and manipulator design 7. EKF-SLAM8. Flexible learning proposal and results reports 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 submit flexible learning proposal and results reports during flexible learning period in related topics.

課程進度

Tentative schedule 1 09/09 Introduction 2 09/16 Spatial descriptions, transformations, and representations for orientation 3 09/23 Link description and affixing frames to links 4 09/30 Link transformations and forward kinematics examples 5 10/07 Inverse kinematics 6 10/14 Pieper’s solution 7 10/21 Velocity Jacobian 8 10/28 Midterm examination 9 11/04 Static forces Jacobian 10 11/11 Manipulator dynamics (1/2) 11 11/18 Manipulator dynamics (2/2) 12 11/25 Trajectory generation and manipulator design 13 12/02 Extended Kalman Filter 14 12/09 Motion And Measurement 15 12/16 EKF-SLAM 16 12/23 Final examination PS: The contents and order of lectures and final presentations will be adjusted according to actual needs

評量方式

The final grade will be a weighted average of attendance 10%, in-class open-book homework 20%, midterm 30%, final 30%, flexible learning reports 10%, and in-class performance credits evaluated by Professor.

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, 4th Edition, John J. Craig, Pearson Education.