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林沛群
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。
學習目標：
1.瞭解物體在空間中運動的描述方式
2.瞭解多關節機械手臂的順逆運動學
3.瞭解運動軌跡的規劃方式。
Register for this course and see more details by visiting:
OpenCourser.com/course/c0hwjx/Ji
What's inside
Syllabus
物體在空間運動之描述 (一)
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
物體在空間運動之描述 (二)
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
Read more
Syllabus
物體在空間運動之描述 (一)
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
物體在空間運動之描述 (二)
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
Read more
機械手臂順運動學
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
機械手臂逆運動學
機械手臂軌跡規劃 (一)
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
機械手臂軌跡規劃 (二)
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
手臂軌跡規劃實例
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。
Good to know
Good to know
Know what's good ,
what to watch for , and
possible dealbreakers
本課程涵蓋機械手臂在工業領域中的運動學和軌跡規劃，適用於對機械手臂相關領域感興趣的學生或工程師。
課程講師林沛群為機械工程領域的專家，其研究成果發表於國際期刊，有助於學生接觸最新的研究動態。
本課程探討機械手臂在工業領域的應用，對於從事自動化或機器人相關工作的學生或工程師而言，相當實用。
課程提供課程大綱，詳細說明將涵蓋的內容，有助於學生了解課程的深度和廣度。
課程包含實際案例，讓學生能將理論應用於實際問題中，加深對機械手臂應用的理解。
本課程沒有明確列出先備知識要求，學生可能需要具備基本的機械工程或相關領域知識才能充分理解課程內容。
Save this course
Save 機器人學一 (Robotics (1)) to your list so you can find it easily later:
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Reviews summary
In-depth robotics intro
This course is a great introduction to robotics. It covers the basics of robot kinematics and trajectory planning. The course is well-taught and the materials are solid. Students who are interested in learning about robotics should definitely take this course.
Great course!
"Nice Introductory Course"
"Nice teacher,nice course!"
"Nice course! Looking forward to the second part and hoping we could learn some Jacobian!"
"Great course! Awesome material, awesome lecturer, and awesome assignment even."
Outdated course materials
"This course is outdated now... No updates and no responses in the forum unless you tried extremely hard to find help."
Oversimplified concepts
"the materials and information are useful to realize the robotics. However, the way of teaching is worse. For example, the calculation of transformation matrix is simplified, and this part especially needs to be explained thoroughly. The oversimple description of the complicate transformation matrix is useless for the students to realize the true meaning of the courses."
Activities
Be better prepared
before
your course. Deepen your understanding
during
and
after
it. Supplement your coursework and achieve mastery of the topics covered
in 機器人學一 (Robotics (1)) with these
activities:
觀看機械手臂軌跡規劃教學影片
Show steps
有助於補充教材並加強對機械手臂軌跡規劃的理解
Show steps
-
尋找與機械手臂軌跡規劃相關的教學影片
-
觀看影片並做筆記
-
嘗試應用影片中介紹的概念和技術
-
進一步研究機械手臂軌跡規劃相關的主題
參加機械手臂運動學討論小組
Show steps
有助於交流想法、獲得不同觀點並加深理解
Show steps
-
尋找或建立一個專注於機械手臂運動學的討論小組
-
定期參加討論小組
-
積極參與討論，分享您的想法和見解
-
傾聽他人的觀點並學習不同觀點
練習機械手臂運動學問題
Show steps
有助於加強理解並練習機械手臂運動學的計算
Show steps
-
收集各種機械手臂運動學問題
-
嘗試獨立解決這些問題
-
檢查您的解答是否正確
-
檢討錯誤並學習正確的解題方法
Three other activities
Expand to see all activities and additional details
Show all six activities
撰寫機械手臂運動學相關文章
Show steps
有助於加強理解並鞏固對機械手臂運動學的掌握
Show steps
-
選擇一個機械手臂運動學相關的主題
-
研究該主題並整理您的理解
-
起草文章，清楚地解釋主題
-
編輯和校對您的文章
-
在線上平台或部落格上發表您的文章
設計並執行機械手臂運動軌跡規劃模擬
Show steps
有助於將所學的知識應用於實際問題，加深對機械手臂運動學的理解
Show steps
-
定義模擬目標和參數
-
研究和選擇合適的機械手臂運動學和軌跡規劃演算法
-
設計並實作模擬環境
-
執行模擬並收集資料
-
分析資料並提出建議
設計並建造一個小型機械手臂
Show steps
有助於綜合並應用所學知識，獲得實作經驗
Show steps
-
研究和選擇合適的機械手臂設計
-
採購必要的材料和組件
-
組裝和建構機械手臂
-
設計和撰寫控制機械手臂的軟體
-
測試和評估機械手臂的效能
觀看機械手臂軌跡規劃教學影片
Show steps
有助於補充教材並加強對機械手臂軌跡規劃的理解
Show steps
Show steps
Show steps
- 尋找與機械手臂軌跡規劃相關的教學影片
- 觀看影片並做筆記
- 嘗試應用影片中介紹的概念和技術
- 進一步研究機械手臂軌跡規劃相關的主題
參加機械手臂運動學討論小組
Show steps
有助於交流想法、獲得不同觀點並加深理解
Show steps
Show steps
Show steps
- 尋找或建立一個專注於機械手臂運動學的討論小組
- 定期參加討論小組
- 積極參與討論，分享您的想法和見解
- 傾聽他人的觀點並學習不同觀點
練習機械手臂運動學問題
Show steps
有助於加強理解並練習機械手臂運動學的計算
Show steps
Show steps
Show steps
- 收集各種機械手臂運動學問題
- 嘗試獨立解決這些問題
- 檢查您的解答是否正確
- 檢討錯誤並學習正確的解題方法
Three other activities
Expand to see all activities and additional details
Show all six activities
撰寫機械手臂運動學相關文章
Show steps
有助於加強理解並鞏固對機械手臂運動學的掌握
Show steps
Show steps
Show steps
- 選擇一個機械手臂運動學相關的主題
- 研究該主題並整理您的理解
- 起草文章，清楚地解釋主題
- 編輯和校對您的文章
- 在線上平台或部落格上發表您的文章
設計並執行機械手臂運動軌跡規劃模擬
Show steps
有助於將所學的知識應用於實際問題，加深對機械手臂運動學的理解
Show steps
Show steps
Show steps
- 定義模擬目標和參數
- 研究和選擇合適的機械手臂運動學和軌跡規劃演算法
- 設計並實作模擬環境
- 執行模擬並收集資料
- 分析資料並提出建議
設計並建造一個小型機械手臂
Show steps
有助於綜合並應用所學知識，獲得實作經驗
Show steps
Show steps
Show steps
- 研究和選擇合適的機械手臂設計
- 採購必要的材料和組件
- 組裝和建構機械手臂
- 設計和撰寫控制機械手臂的軟體
- 測試和評估機械手臂的效能
Career center
Learners who complete 機器人學一 (Robotics (1)) will develop knowledge and skills
that may be useful to these careers:
Robotics Engineer
Robotics Engineer
A Robotics Engineer designs, builds, and programs robots. This course would be useful to a Robotics Engineer because it helps build a foundation for modeling the movement of a robot's arm as well as the techniques used to develop trajectories for it to follow.
Mechanical Engineer
Mechanical Engineer
A Mechanical Engineer designs, builds, and tests mechanical systems. This course would be useful to a Mechanical Engineer because it may help to develop a foundational understanding of the mathematics behind kinematics and the techniques used to map out trajectories for robotic arms.
Materials Scientist
Materials Scientist
A Materials Scientist researches, develops, and tests new materials. This course would be useful to a Materials Scientist because it may help to develop a foundation for understanding the mathematical principles behind robotics and the techniques used to control robotic systems in a materials science setting.
Chemical Engineer
Chemical Engineer
A Chemical Engineer designs, builds, and tests chemical systems. This course would be useful to a Chemical Engineer because it may help to develop a foundation for understanding the mathematical principles behind robotics and the techniques used to control robotic systems in a chemical engineering setting.
Environmental Engineer
Environmental Engineer
An Environmental Engineer designs, builds, and tests environmental systems. This course would be useful to an Environmental Engineer because it may help to develop a foundation for understanding the mathematical principles behind robotics and the techniques used to control robotic systems in an environmental engineering setting.
Biomedical Engineer
Biomedical Engineer
A Biomedical Engineer designs, builds, and tests biomedical systems. This course would be useful to a Biomedical Engineer because it may help to develop a foundation for understanding the mathematical principles behind robotics and the techniques used to control robotic systems in a biomedical setting.
Aerospace Engineer
Aerospace Engineer
An Aerospace Engineer designs, builds, and tests aerospace systems. This course would be useful to an Aerospace Engineer because it may help to develop a foundation for understanding the mathematical principles behind robotics and the techniques used to control robotic systems in an aerospace setting.
Control Systems Engineer
Control Systems Engineer
A Control Systems Engineer designs, builds, and tests control systems. This course would be useful to a Control Systems Engineer because it may help to develop a foundation for understanding the mathematical principles behind robotics and the techniques used to control robotic systems.
Electrical Engineer
Electrical Engineer
An Electrical Engineer designs, builds, and tests electrical systems. This course would be useful to an Electrical Engineer because it may help to develop a foundation for understanding the mathematical principles behind robotics and the techniques used to control robotic systems.
Mechatronics Engineer
Mechatronics Engineer
A Mechatronics Engineer designs, builds, and tests mechatronic systems. This course would be useful to a Mechatronics Engineer because it may help to develop a foundation for understanding the mathematical principles behind robotics and the techniques used to control robotic systems.
Industrial Engineer
Industrial Engineer
An Industrial Engineer designs, builds, and tests industrial systems. This course would be useful to an Industrial Engineer because it may help to develop a foundation for understanding the mathematical principles behind robotics and the techniques used to control robotic systems in an industrial setting.
Manufacturing Engineer
Manufacturing Engineer
A Manufacturing Engineer designs, builds, and tests manufacturing systems. This course would be useful to a Manufacturing Engineer because it may help to develop a foundation for understanding the mathematical principles behind robotics and the techniques used to control robotic systems in a manufacturing setting.
Systems Engineer
Systems Engineer
A Systems Engineer designs, develops, and tests complex systems. This course would be useful to a Systems Engineer because it may help to develop a foundation for understanding the mathematical principles behind robotics and system integration.
Software Engineer
Software Engineer
A Software Engineer designs, develops, and maintains software systems. This course would be useful to a Software Engineer because it may help to develop a foundation for understanding the mathematical principles behind robotics applications.
Computer Engineer
Computer Engineer
A Computer Engineer designs, builds, and tests computer systems. This course would be useful to a Computer Engineer because it may help to develop a foundation for understanding the mathematical principles behind robotics and the techniques used to control robotic systems.
For more career information including salaries, visit:
OpenCourser.com/course/c0hwjx/Ji
Reading list
We've selected 14 books
that we think will supplement your
learning. Use these to
develop background knowledge, enrich your coursework, and gain a
deeper understanding of the topics covered in
機器人學一 (Robotics (1)).
Save
這本書由劉昭仁教授編寫，講述機械手臂運動學和軌跡規劃的基礎理論和應用。它提供了詳細的數學推導和實例，可以幫助學生加深對課程內容的理解。.
Save
這本書提供了機器人學的現代化介紹，涵蓋了運動學、動力學和控制等主題。它提供了清晰的解釋和實用性的例題，可以幫助學生建立對課程內容的直觀理解。
這本書專注於機器人運動規劃，提供了一系列廣泛使用的規劃算法和技術。它可以幫助學生深入了解課程中介紹的軌跡規劃方法。
這本書提供了機器人學的全面概述，包括運動學、動力學和控制。它提供了清晰的圖表和實例，可以幫助學生建立強有力的基礎知識。
這本書介紹了自動計劃的原理和實踐，包括規劃技術、搜索策略和規劃系統的評估。它可以幫助學生了解課程中介紹的軌跡規劃問題的更廣泛背景。
這本書提供了機器人運動學和規劃的全面且深入的介紹。它涵蓋了廣泛的主題，包括約束、運動規劃和控制。
這本書探討了機器人在不確定環境中運作的概率方法。它提供了課程中介紹的運動學和規劃概念的延伸，並適合於有興趣在機器人學中應用概率方法的學生。
這本書提供了神經網絡和深度學習的全面概述。儘管它與課程的直接相關性較低，但它可以幫助學生了解當代機器人學中使用的技術。
Save
這本書涵蓋了計算機視覺的原理和應用。儘管它與課程的直接相關性較低，但它可以幫助學生了解當代機器人學中使用的技術。
Save
這本書提供了深度學習的全面概述。儘管它與課程的直接相關性較低，但它可以幫助學生了解當代機器人學中使用的技術。
這本書介紹了強化學習，這是機器人學中越來越重要的一個領域。儘管它與課程的直接相關性較低，但它可以幫助學生了解當代機器人學中使用的技術。
這本書提供了自主移動機器人的全面概述。它涵蓋了範圍廣泛的主題，包括傳感器、規劃和控制。
Save
這本書提供了規劃算法的全面概述。雖然它與課程的直接相關性較低，但它可以幫助學生了解規劃問題的一般背景知識。
這本書提供了凸優化的全面概述。雖然它與課程的直接相關性較低，但它可以幫助學生了解規劃問題中使用的數學技術。
For more information about how these books relate to this course, visit:
OpenCourser.com/course/c0hwjx/Ji
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Level
Introductory
Via
Coursera
Institution
National Taiwan University
Instructor
林沛群
Language
中文
Good to know
本課程涵蓋機械手臂在工業領域中的運動學和軌跡規劃，適用於對機械手臂相關領域感興趣的學生或工程師。
課程講師林沛群為機械工程領域的專家，其研究成果發表於國際期刊，有助於學生接觸最新的研究動態。
本課程探討機械手臂在工業領域的應用，對於從事自動化或機器人相關工作的學生或工程師而言，相當實用。
課程提供課程大綱，詳細說明將涵蓋的內容，有助於學生了解課程的深度和廣度。
課程包含實際案例，讓學生能將理論應用於實際問題中，加深對機械手臂應用的理解。
本課程沒有明確列出先備知識要求，學生可能需要具備基本的機械工程或相關領域知識才能充分理解課程內容。
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