課程名稱 |
機器人簡介 Introduction to Robotics |
開課學期 |
100-1 |
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 |
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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:40人 |
Ceiba 課程網頁 |
http://ceiba.ntu.edu.tw/1001Robot |
課程簡介影片 |
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核心能力關聯 |
核心能力與課程規劃關聯圖 |
課程大綱
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課程概述 |
1.Overview
2.Spatial Relation and Transformation
3.Robot Kinematics
4.Jacobians
5.Robot Dynamics
6.Robot Design
7.Mobile Robots
8.Bio-Inspired Robots
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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 case study. |
預期每週課後學習時數 |
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Office Hours |
另約時間 備註: Monday: 1:30-4 PM Thursday: 2-4 PM or By Appointment |
指定閱讀 |
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參考書目 |
Textbook:
J.J. Craig, Introduction to Robotics: Mechanics and Control. (3rd ed.) N.Y., Pearson Prentice-Hall, 2005.
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.
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評量方式 (僅供參考) |
No. |
項目 |
百分比 |
說明 |
1. |
Homework/Report/Experiment |
40% |
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2. |
Mid Term Exam |
30% |
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3. |
Final Exam |
30% |
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週次 |
日期 |
單元主題 |
第2週 |
9/19 |
Introduction |
第3週 |
9/26 |
LEGO Mindstorms |
第4週 |
10/03 |
Spatial Relation and Transformation |
第5週 |
10/10 |
國慶日放假 (Holiday) |
第6週 |
10/17 |
Manipulator Kinematics |
第7週 |
10/24 |
Manipulator Kinematics |
第8週 |
10/31 |
Manipulator Inverse Kinematics |
第9週 |
11/07 |
Differential motions and velocities |
第10週 |
11/14 |
Manipulator Dynamics |
第11週 |
11/21 |
Manipulator Dynamics |
第12週 |
11/28 |
Midterm Exam |
第13週 |
12/05 |
Trajectory Planning |
第14週 |
12/12 |
Trajectory Planning |
第15週 |
12/19 |
Bio-inspired Robotics |
第16週 |
12/26 |
Manipulator Mechanism Design |
第17週 |
1/02 |
Term project presentation I |
第18週 |
1/09 |
Term Project Presentation II |
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