| 課程名稱 |
(中文) 機器人系統 (英文) Robotic Systems |
開課單位 | 電機工程研究所 | ||
| 課程代碼 | E4650A | ||||
| 授課教師 | 游文雄 | ||||
| 學分數 | 3.0 | 必/選修 | 選修 | 開課年級 | 研究所 |
| 先修科目或先備能力：微積分,線性代數 | |||||
| 課程概述與目標：1.使用Matlab實現推導運動學基礎 2.使用Matlab實現分析串聯式及並聯式機器人能力 3.使用Matlab實現空間轉換座標能力 | |||||
| 教科書 | Robot Analysis: The Mechanics of Serial and Parallel Manipulators, Lung-Wen Tsai, John Wiley & Sons, Inc. 1999. | ||||
| 參考教材 | Introduction to Robotics: Mechanics and Control, Second Ed., J.J. Craig, Addision Wesley, 1989. 選課條件 無 |
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| 課程大綱 | 學生學習目標 | 單元學習活動 | 學習成效評量 | 備註 | ||
| 週 | 單元主題 | 內容綱要 | ||||
| 1 | Robot systems | position, orientation | position, orientation | |||
| 2 | Robot systems | Homogeneous transforations | Homogeneous transforations | |||
| 3 | Position analysis of serial manipulators | Position analysis of serial manipulators | Position analysis of serial manipulators |
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| 4 | Position analysis of serial manipulators | Link parameters, coordinate systems | Link parameters, coordinate systems | |||
| 5 | Position analysis of serial manipulators | Loop closure equations | Loop closure equations |
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| 6 | Position analysis of serial manipulators | Denavit-Hartenberg method | Denavit-Hartenberg method | |||
| 7 | Position analysis of serial manipulators | Successive screw displacement | Successive screw displacement |
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| 8 | Position analysis of parallel manipulators | Position analysis of parallel manipulators using Matlab | Position analysis of parallel manipulators |
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| 9 | Position analysis of parallel manipulators | Geometric methos using Matlab | Geometric methos |
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| 10 | Position analysis of parallel manipulators | Spartial orientation using Matlab | Spartial orientation |
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| 11 | 期中考試 | 期中考試 | 期中考試 |
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| 12 | Jacobian analysis of serial manipulators | Screw coordinates and systems using Matlab | Screw coordinates and systems |
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| 13 | Jacobian analysis of serial manipulators | Condition numbers, singularity using Matlab | Condition numbers, singularity |
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| 14 | Jacobian analysis of parallel manipulators | Jacobian analysis of parallel manipulators using Matlab | Jacobian analysis of parallel manipulators |
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| 15 | Jacobian analysis of parallel manipulators | Convential Jacobian using Matlab | Convential Jacobian |
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| 16 | Jacobian analysis of parallel manipulators | Convential Jacobian using Matlab | Convential Jacobian |
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| 17 | Jacobian analysis of parallel manipulators | Convential Jacobian using Matlab | Convential Jacobian |
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| 18 | Jacobian analysis of parallel manipulators | Convential Jacobian using Matlab | Convential Jacobian |
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| 19 | 期末專題 | 期末專題 | 期末專題 |
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教學要點概述： |