|
課程名稱 |
機器人簡介
Introduction to Robotics |
|
開課學期 |
105-1 |
|
授課對象 |
工學院 機械工程學系 |
|
授課教師 |
林沛群 |
|
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 |
新402 |
|
備註 |
不禁止外系選修（本系優先）。與黃漢邦合開
總人數上限：54人 |
|
Ceiba 課程網頁 |
http://ceiba.ntu.edu.tw/1051ME5118 |
|
課程簡介影片 |
|
|
核心能力關聯 |
核心能力與課程規劃關聯圖 |
|
課程大綱
|
|
為確保您我的權利,請尊重智慧財產權及不得非法影印
|
|
課程概述 |
|
|
課程目標 |
|
|
課程要求 |
|
|
預期每週課後學習時數 |
|
|
Office Hours |
每週四 14:00~16:00
每週一 13:30~16:00 |
|
指定閱讀 |
|
|
參考書目 |
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, Y. C. 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. |
Homework/Report/Experiment |
25% |
|
2. |
1st Exam |
20% |
|
3. |
2nd Exam |
20% |
|
4. |
Final Term Project |
35% |
|
|
|
週次 |
日期 |
單元主題 |
|
第1週 |
9/12 |
Introduction |
|
第2週 |
9/19 |
Spatial Relation and Transformation |
|
第3週 |
9/26 |
LEGO Mindstorms |
|
第4週 |
10/3 |
Manipulator Kinematics |
|
第5週 |
10/10 |
國慶日放假 |
|
第6週 |
10/17 |
Manipulator Inverse Kinematics/ Differential motions and velocities |
|
第7週 |
10/24 |
1st Exam |
|
第8週 |
10/31 |
Manipulator Dynamics |
|
第9週 |
11/7 |
Manipulator Dynamics |
|
第10週 |
11/14 |
Trajectory Planning |
|
第11週 |
11/21 |
Trajectory Planning |
|
第12週 |
11/28 |
Manipulator Mechanism Design |
|
第13週 |
12/5 |
2nd Exam |
|
第14週 |
12/12 |
Bio-inspired Robotics |
|
第15週 |
12/19 |
Bio-inspired Robotics |
|
第16週 |
12/26 |
Term Project Presentation |
|
第17週 |
1/2 |
元旦放假 |
|
第18週 |
1/9 |
Term Project Presentation |
|