課程名稱Course Title (中文) 機器人系統 (英文) Robotic Systems 開課單位Departments 電機工程學系 課程代碼Course No. E4650 授課教師Instructor 游文雄 學分數Credit 3.0 必/選修core required/optional 選修 開課年級Level 大四 先修科目或先備能力(Course Pre-requisites)：微積分,線性代數 課程概述與目標(Course Overview and Goals)：1.實現推導運動學基礎 2.實現分析串聯式及並聯式機器人能力 3.實現空間轉換座標能力 教科書(Textbook) Robot Analysis: The Mechanics of Serial and Parallel Manipulators, Lung-Wen Tsai, John Wiley & Sons, Inc. 1999. 參考教材(Reference) Introduction to Robotics: Mechanics and Control, Second Ed., J.J. Craig, Addision Wesley, 1989. 選課條件 無
 課程大綱 Syllabus 學生學習目標Learning Objectives 單元學習活動Learning Activities 學習成效評量Evaluation 備註Notes 序No. 單元主題Unit topic 內容綱要Content summary 1 Robot systems position, orientation (inverted pendulum system) position, orientation (inverted pendulum system) 講授 2 Position analysis of serial manipulators Position analysis of serial manipulators (inverted pendulum system) Position analysis of serial manipulators (inverted pendulum system) 講授 作業 3 Position analysis of serial manipulators Link parameters, coordinate systems (inverted pendulum system) Link parameters, coordinate systems (inverted pendulum system) 講授 4 Position analysis of serial manipulators inverted pendulum system inverted pendulum system 講授 作業 5 Position analysis of serial manipulators Successive screw displacement Successive screw displacement 講授 作業 6 Position analysis of parallel manipulators Position analysis of parallel manipulators using Matlab Position analysis of parallel manipulators 講授 作業 7 Position analysis of parallel manipulators Geometric methos using Matlab Geometric methos 講授 作業 8 期中考試 期中考試 期中考試 講授 期中考 9 Jacobian analysis of serial manipulators Screw coordinates and systems using Matlab Screw coordinates and systems 講授 作業 10 Jacobian analysis of serial manipulators Condition numbers, singularity using Matlab Condition numbers, singularity 講授 作業 11 Jacobian analysis of parallel manipulators Jacobian analysis of parallel manipulators using Matlab Jacobian analysis of parallel manipulators 講授 作業 12 Jacobian analysis of parallel manipulators Convential Jacobian using Matlab Convential Jacobian 講授 作業 13 Jacobian analysis of parallel manipulators Convential Jacobian using Matlab Convential Jacobian 講授 作業 14 Jacobian analysis of parallel manipulators Convential Jacobian using Matlab Convential Jacobian 講授 作業 15 Jacobian analysis of parallel manipulators Convential Jacobian using Matlab Convential Jacobian 講授 作業 16 期末考試 期末考試 期末考試 講授 期末考 17 Matlab解題 Matlab解題運動學 Matlab解題運動學 講授 彈性教學 18 Matlab解題 Matlab解題運動學 Matlab解題運動學 講授 彈性教學

 序No. 實施期間Period 實施方式Content 教學說明Teaching instructions 彈性教學評量方式Evaluation 備註Notes 1 起:2024-06-10 迄:2024-06-23 Matlab解題 Matlab解題求運動方程式

 教學要點概述： 1.自編教材 Handout by Instructor： ■ 1-1.簡報 Slids □ 1-2.影音教材 Videos □ 1-3.教具 Teaching Aids □ 1-4.教科書 Textbook □ 1-5.其他 Other □ 2.自編評量工具/量表 Educational Assessment □ 3.教科書作者提供 Textbook 成績考核 Performance Evaluation： 期末考：20%   期中考：20%   彈性教學：10%   作業：50%   教學資源(Teaching Resources)： ■ 教材電子檔(Soft Copy of the Handout or the Textbook) □ 課程網站(Website) 教學相關配合事項：無 扣考規定：https://curri.ttu.edu.tw/p/412-1033-1254.php