課程資訊
課程名稱
 機器人簡介
Introduction to Robotics 
開課學期
 102-1 
授課對象
 工學院  機械工程學系  
授課教師
 黃漢邦 
課號
 ME5118 
課程識別碼
 522 U1290 
班次
  
學分
 3 
全/半年
 半年 
必/選修
 選修 
上課時間
 星期一2,3,4(9:10~12:10) 
上課地點
 工綜205 
備註
 不禁止外系選修（本系優先）。與林沛群合開
總人數上限：44人 
Ceiba 課程網頁
 http://ceiba.ntu.edu.tw/1021_robotics 
課程簡介影片
 
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課程概述

This course is aimed to give students an overview about robotics system. The robot kinematics, inverse kinematics, dynamics, trajectory planning, robot mechatronics, bio-inspired robots, and system integration will be addressed in the course. Lectures, experiments, and homework are indispensable. 

課程目標
 1. Overview
2. Spatial Relation and Transformation
3. Robot Kinematics
4. Robot Inverse Kinematics
5. Differential Motion and Jacobians
6. Robot Dynamics
7. Trajectory Planning
8. Bio-Inspired Robots/ Mobile Robots
9. Robot Mechanism Design
10. System Integration
11. Robot Mechatronics
 
課程要求
 The prerequisite is dynamics course.  
預期每週課後學習時數
  
Office Hours
 每週一 13:30~16:00
每週四 14:00~16:00 
指定閱讀
 J.J. Craig, Introduction to Robotics: Mechanics and Control. (3rd ed.) N.Y., Pearson Prentice-Hall, 2005. 
參考書目
 References 參考書:
1. Saeed B. Niku, Introduction to Robotics, Analysis, Control, Applications. New York: John Wiley & Sons, 2nd edition, 2011.
2. K.S. Fu, R.C. Gonzalez, C.S.G. Lee, Robotics: Control, Sensing, Vision, and Intelligence. New York: McGraw-Hill, 1987.
3. Lung-Wen Tsai, Robot Analysis. New York: John Wiley & Sons, 1999.
4. Asada, J.E. Slotine, Robot Analysis and Control. New York: John Wiley & Sons, 1986.
5. H. Asada, K. Youcef-Toumi, Direct-Drive Robot: Theory and Practice. Cambridge, MA: MIT Press, 1986.
6. M. Brady, et. al, Eds., Robot Motion, Planning, and Control. Cambridge, MA: MIT Press, 1984.
7. A.J. Critchlow, Introduction to Robotics. New York: MacMillan, 1985.
8. A. Koivo, "Fundamentals for Control of Robotic Manipulators," New York: Wiley, 1989.
9. Y. Koren, Robotics for Engineers. New York: McGraw-Hill, 1987.
10. R.A. Klafter, T.A. Chmielewski, M. Negin, "Robotic Engineering: An Integrated Approach," Englewood Cliffs, NJ: Prentice-Hall, 1989.
11. D.R. Malcolm, Jr., Robotics: An Introduction. Boston, MA: PWS-KENT Publishing, 1988.
12. P.J. McKerrow, Introduction to Robotics. Reading, MA: Addison-Wesley, 1991.
13. R.P Paul, Robot Manipulators: Mathematics, Programming and Control. Cambridge, MA: MIT Press, 1982.
14. P. Ranky, C.Y. Ho, Robot Modeling: Control and Applications with Software. Bedford, UK: IFS Publishing, 1985.
15. B.Z. Sandler, "Robotics: Designing the Mechanisms for Automated Machinery," London: Prentice-Hall Int., 1991.
16. R..J. Schilling, "Fundamentals of Robotics: Analysis and Control," Englewood Cliffs, NJ: Prentice-Hall, 1990.
17. R.J. Schilling and R.B. White, "Robotic Manipulation: Programming and Simulation Studies," Englewood Cliffs, NJ: Prentice-Hall, 1990.
18. A.C. Staugaard, JR., "Robotics and AI: An Introduction to Applied Machine Intelligence," Englewood Cliffs, NJ: Prentice-Hall, 1987.
19. W.E. Synder, Industrial Robots: Computer Interfacing and Control. Englewood Cliffs, NJ: Prentice-Hall, 1985.
20. M.W. Spong and M. Vidyasagar, "Robot Dynamics and Control," New York: John Wiley and Sons, 1989.
21. W.A. Wolovich, Robotics: Basic Analysis and Design. New York: Holt, Rinehart and Winston, 1986.
22. P.S. Vail, Computer Integrated Manufacturing. Boston, MA: PWS-KENT Publishing, 1988.
 
評量方式
(僅供參考)
  
No.
項目
百分比
說明
1. 
 期末報告 
30% 
  
2. 
 期中考 
30% 
  
3. 
 作業/實驗 
40% 
  
 
課程進度
週次
日期
單元主題
第1週
 9/9  Introduction 
第2週
 9/16  LEGO Mindstorms 
第3週
 9/23  Spatial Relation and Transformation 
第4週
 9/30  Manipulator Kinematics 
第5週
 10/7  Manipulator Kinematics /Manipulator Inverse Kinematics 
第6週
 10/14  Manipulator Inverse Kinematics/ Differential motions and velocities 
第7週
 10/21  Motoman Robot 
第8週
 10/28  Manipulator Dynamics 
第9週
 11/4  Manipulator Dynamics 
第10週
 11/11  Midterm Exam 
第11週
 11/18  Trajectory Planning 
第12週
 11/25  Trajectory Planning 
第13週
 12/2  Bio-inspired Robotics/ Mobile Robots 
第14週
 12/9  Manipulator Mechanism Design 
第15週
 12/16  System Integration 
第16週
 12/23  Robot Mechatronics 
第17週
 12/30  Term Project Presentation 
第18週
 1/6  Term Project Presentation