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))
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4.7
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2 weeks to complete
at 10 hours a week
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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
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5.0 (10 ratings)
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BD
4
Reviewed on Sep 7, 2017
it will be better if the professor scratch in the slide with the pen instead of po
JT
5
Reviewed on Sep 21, 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。
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