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機器人學一 (Robotics (1))
  • Level Foundation
  • Course by National Taiwan University
  • Offered by

About

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。

Modules

課程資訊

    • 3 Readings
    • 1 Assignment
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1 Assignment

  • 多答案題目輸入方法

3 Readings

  • 【製作團隊】
  • 數學輔助軟體: Matlab
  • 參考書籍/課程投影片

課程內容

    • 7 Videos
    • 1 Assignment
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1 Assignment

  • Quiz 1

7 Videos

  • 機器人學導論
  • 1-1_導論
  • 1-2_移動
  • 1-3_轉動
  • 1-4_Rotation Matrix 1
  • 1-4_Rotation Matrix 2
  • 1-4_Rotation Matrix 3

課程內容

    • 9 Videos
    • 1 Readings
    • 1 Assignment
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1 Assignment

  • Quiz 2

9 Videos

  • 2-1_Rotation Matrix與轉角
  • 2-2_Fixed Angles 1
  • 2-2_Fixed Angles 2
  • 2-3_Euler Angles 1
  • 2-3_Euler Angles 2
  • 2-4_Mapping
  • 2-5_Operators 1
  • 2-5_Operators 2
  • 2-6_Trans Matrix

1 Readings

  • 補充資料一 - 觀察座標系的旋轉

課程內容

    • 9 Videos
    • 1 Assignment
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1 Assignment

  • Quiz 3

9 Videos

  • 3-1_順向運動學引言
  • 3-2_手臂幾何描述
  • 3-3_DH表達法
  • 3-4_Link Trans 1
  • 3-4_Link Trans Example 1
  • 3-4_Link Trans 3 Example 2
  • 3-5_Actuator, Joint, and Cartesian Spaces
  • 3-6_DH表達法小結 1
  • 3.6_DH 表達法小結 2 Example

課程內容

    • 7 Videos
    • 1 Readings
    • 1 Assignment
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1 Assignment

  • Quiz 4

7 Videos

  • 4-1_逆向運動學引言
  • 4-2_多重解 1
  • 4-2_多重解 2 Example 1
  • 4-2_多重解 3 Example 2
  • 4-3_Pieper's Solution 1
  • 4-3_Pieper's Solution 2
  • 4-4_物件取放任務

1 Readings

  • 「4-4 物件取放任務」 教材勘誤補充

課程內容

    • 8 Videos
    • 1 Readings
    • 1 Assignment
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1 Assignment

  • Quiz 5

8 Videos

  • 5-1_機械手臂軌跡規劃 引言
  • 5-2_Joint Space下的軌跡規劃
  • 5-3_Cartesian Space下的軌跡規劃
  • 5-4_Cubic Polynomials
  • 5-5_多段Cubic Polynomials
  • 5-6_General Cubic Polynomials 1
  • 5-6_General Cubic Polynomials 2 Example 1
  • 5-6_General Cubic Polynomials 3 Example 2

1 Readings

  • 補充資料二 - 觀察Cubic Spline軌跡動畫

課程內容

    • 9 Videos
    • 1 Readings
    • 1 PeerReview
    • 1 Assignment
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1 Assignment

  • Quiz 6

1 Peer Review

  • Final Project - 設計你的機械手臂

9 Videos

  • 6-1_Linear Function with Parabolic Blends 1
  • 6-1_Linear Function with Parabolic Blends 2
  • 6-2_多段Linear Function with Parabolic Blends 1
  • 6-2_多段Linear Function with Parabolic Blends 2
  • 6-3_Linear Function with Parabolic Blends註解 1
  • 6-3_Linear Function with Parabolic Blends註解 2
  • 6-4_Cartesian Space下軌跡幾何限制
  • 6-5_Revisit the RRR Manipulator 1
  • 6-5_Revisit the RRR Manipulator 2

1 Readings

  • 補充資料三 - 觀察Linear Function with Parabolic Blends軌跡動畫

課程內容

    • 5 Videos
    • 1 Readings
    • 1 Assignment
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1 Assignment

  • Quiz 7

5 Videos

  • 7-1_機械手臂軌跡規劃實例
  • 7-2_軌跡規劃實例 方法一 1
  • 7-2_軌跡規劃實例 方法一 2
  • 7-3_軌跡規劃實例 方法二
  • 7-4_註解

1 Readings

  • Week 7 教材勘誤

Auto Summary

"Robotics (1)" is a foundational course in Science & Engineering, focusing on the kinematics and trajectory planning of robotic arms. Taught on Coursera, it aims to help learners understand spatial movement, the kinematics of multi-joint robotic arms, and motion trajectory planning. Available via Starter and Professional subscriptions, this course is ideal for those beginning their exploration into robotics.

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