本課程主要在學習機械手臂在分析面的運動學和軌跡規劃。
機器人學一 (Robotics (1))
機器人學一 (Robotics (1))
Instructor: 林沛群
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4.7
(62 reviews)
Beginner level
No prior experience required
16 hours to complete
3 weeks at 5 hours a week
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Assessments
8 assignments
Taught in Chinese (Traditional)
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There are 7 modules in this course
1.描述一個剛體在空間中3個自由度的移動狀態 2.瞭解描述空間中轉動的旋轉矩陣（Rotation matrix）的運算和使用方法
What's included
7 videos3 readings2 assignments
1.瞭解Fixed angles和Euler angles的運算和使用方法 2.瞭解可描述移動和轉動的transformation matrix的運算和使用方法
What's included
9 videos1 reading1 assignment
1.針對平面二維手臂，瞭解如何由已知的手臂末端點狀態求解手臂各關節狀態 2.瞭解如何以Pieper’s solution進行空間六個自由度機械手臂的逆向運動學計算
What's included
9 videos1 assignment
1.針對平面二維手臂，瞭解如何由已知的手臂末端點狀態求解手臂各關節狀態 2.瞭解如何以Pieper’s solution進行空間六個自由度機械手臂的逆向運動學計算
What's included
7 videos1 reading1 assignment
1.瞭解如何以Cubic polynomials來規劃位置、速度、加速度連續的運動軌跡 2.以平面三個自由度機械手臂為例進行演算
What's included
8 videos1 reading1 assignment
1.瞭解如何以linear function with parabolic blends來規劃可等速直線運動的運動軌跡 2.以平面三個自由度機械手臂為例進行演算
What's included
9 videos1 reading1 assignment1 peer review
本單元為課程的總整應用案例，討論如何以六個自由度機械手臂來進行人類常進行的物件移動任務，而具體目標為將物件（杯子）由桌面拿起掛到牆上的杯架上。需使用到近乎整門課程所學的內容。
What's included
5 videos1 reading1 assignment
Instructor
Instructor ratings
5.0 (10 ratings)Offered by
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JT
5
Reviewed on Sep 22, 2017
雖然我原本有學過一點機器人正逆運動學的計算，但本課程令我更深入的瞭解有不同的表示法、計算方法，並且自己學會使用MATLAB來運算一些較複雜的數學式，但學習門檻較高，必須有數學基礎、程式設計基礎的同學才較容易吸收學習。
BD
4
Reviewed on Sep 8, 2017
it will be better if the professor scratch in the slide with the pen instead of po
Recommended if you're interested in Physical Science and Engineering
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