教學大綱表 (108學年度 第2學期)
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課程名稱
Course Title		 (中文) 機器人系統
(英文) Robotic Systems 		開課單位
Departments		 電機工程研究所
課程代碼
Course No.		 E4650B
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		 研究所
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.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(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 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  
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  
6 Position analysis of serial manipulators Denavit-Hartenberg method Denavit-Hartenberg method  
7 Position analysis of serial manipulators Successive screw displacement Successive screw displacement  
8 Position analysis of parallel manipulators Position analysis of parallel manipulators using Matlab Position analysis of parallel manipulators  
9 Position analysis of parallel manipulators Geometric methos using Matlab Geometric methos  
10 Position analysis of parallel manipulators Spartial orientation using Matlab Spartial orientation  
11 期中考試 期中考試 期中考試  
12 Jacobian analysis of serial manipulators Screw coordinates and systems using Matlab Screw coordinates and systems  
13 Jacobian analysis of serial manipulators Condition numbers, singularity using Matlab Condition numbers, singularity  
14 Jacobian analysis of parallel manipulators Jacobian analysis of parallel manipulators using Matlab Jacobian analysis of parallel manipulators  
15 Jacobian analysis of parallel manipulators Convential Jacobian using Matlab Convential Jacobian  
16 Jacobian analysis of parallel manipulators Convential Jacobian using Matlab Convential Jacobian  
17 Jacobian analysis of parallel manipulators Convential Jacobian using Matlab Convential Jacobian  
18 Jacobian analysis of parallel manipulators Convential Jacobian using Matlab Convential Jacobian  
19 期末專題 期末專題 期末專題  


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%   專題：20%   作業：40%  

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：http://eboard.ttu.edu.tw/ttuwebpost/showcontent-news.php?id=504