課程大綱

課程資訊

課程名稱

機器人簡介
Introduction to Robotics

開課學期

101-1

授課對象

工學院工業工程學研究所

授課教師

黃漢邦

課號

ME5118

課程識別碼

522 U1290

班次

學分

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：40人

Ceiba 課程網頁

http://ceiba.ntu.edu.tw/1011ME_Robotics

課程簡介影片

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課程概述

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
9. Robot Mechanism Design
10. Robot Mechatronics

課程目標

介紹機器人的基本概念、運動學、反運動學、動力學、機器人設計、移動式機器人、仿生機器人等等。課程並包括實驗，及實例操作，讓同學對於機器人有一完整的認識，並從理論至實務均能充分掌握。

課程要求

This course includes experiments and reports.

預期每週課後學習時數

Office Hours

每週一 13:30~16:30
每週四 14:00~16:00

指定閱讀

Textbook:
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.	Homework/Report/Experiment	40%
2.	Mid Term Exam	25%
3.	Final Term Project	35%

課程進度

週次	日期	單元主題
第1週	9/10	Introduction
第2週	9/17	Spatial Relation and Transformation
第3週	9/24	Manipulator Kinematics
第4週	10/01	Manipulator Kinematics/Manipulator Inverse Kinematics
第5週	10/08	LEGO Mindstorms
第6週	10/15	Motoman Robot
第7週	10/22	Manipulator Inverse Kinematics/ Differential motions and velocities
第8週	10/29	Manipulator Dynamics
第9週	11/05	Manipulator Dynamics
第10週	11/12	Midterm Exam
第11週	11/19	Trajectory Planning
第12週	11/26	Trajectory Planning
第13週	12/03	Bio-inspired Robotics
第14週	12/10	Manipulator Mechanism Design
第15週	12/17	Robot Mechatronics
第16週	12/24	Term Project Presentation
第17週	12/31	彈性放假
第18週	1/7	Term Project Presentation