About this course: 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。
Who is this class for: 1.理工背景學生 2.或瞭解基本力學和線性代數的學生
Created by: National Taiwan University
Taught by: 林沛群 (Pei-Chun Lin), 教授
機械工程學系
| Level | Beginner |
| Language | Chinese (Traditional) |
| How To Pass | Pass all graded assignments to complete the course. |
| User Ratings |
Syllabus
WEEK 1
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
7 videos, 4 readings, 1 practice quiz
- Reading: 【製作團隊】
- Reading: 數學輔助軟體: Matlab
- Reading: 邀請您花 4 mins 寫下你對這堂課的看法（Pre-Survey）
- Reading: 參考書籍/課程投影片
- Practice Quiz: 多答案題目輸入方法
- Video: 機器人學導論
- Video: 1-1_導論
- Video: 1-2_移動
- Video: 1-3_轉動
- Video: 1-4_Rotation Matrix 1
- Video: 1-4_Rotation Matrix 2
- Video: 1-4_Rotation Matrix 3
Graded: Lecture 1
WEEK 2
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
9 videos, 1 reading
- Video: 2-1_Rotation Matrix與轉角
- Video: 2-2_Fixed Angles 1
- Video: 2-2_Fixed Angles 2
- Video: 2-3_Euler Angles 1
- Video: 2-3_Euler Angles 2
- Video: 2-4_Mapping
- Video: 2-5_Operators 1
- Video: 2-5_Operators 2
- Video: 2-6_Trans Matrix
- Reading: 補充資料一 - 觀察座標系的旋轉
Graded: Lecture 2
WEEK 3
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
9 videos
- Video: 3-1_順向運動學引言
- Video: 3-2_手臂幾何描述
- Video: 3-3_DH表達法
- Video: 3-4_Link Trans 1
- Video: 3-4_Link Trans Example 1
- Video: 3-4_Link Trans 3 Example 2
- Video: 3-5_Actuator, Joint, and Cartesian Spaces
- Video: 3-6_DH表達法小結 1
- Video: 3.6_DH 表達法小結 2 Example
Graded: Lecture 3
WEEK 4
機械手臂逆運動學
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
7 videos
- Video: 4-1_逆向運動學引言
- Video: 4-2_多重解 1
- Video: 4-2_多重解 2 Example 1
- Video: 4-2_多重解 3 Example 2
- Video: 4-3_Pieper's Solution 1
- Video: 4-3_Pieper's Solution 2
- Video: 4-4_物件取放任務
Graded: Lecture 4
WEEK 5
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
8 videos, 1 reading
- Reading: 補充資料二 - 觀察Cubic Spline軌跡動畫
- Video: 5-1_機械手臂軌跡規劃 引言
- Video: 5-2_Joint Space下的軌跡規劃
- Video: 5-3_Cartesian Space下的軌跡規劃
- Video: 5-4_Cubic Polynomials
- Video: 5-5_多段Cubic Polynomials
- Video: 5-6_General Cubic Polynomials 1
- Video: 5-6_General Cubic Polynomials 2 Example 1
- Video: 5-6_General Cubic Polynomials 3 Example 2
Graded: Lecture 5
WEEK 6
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
9 videos, 1 reading
- Reading: 補充資料三 - 觀察Linear Function with Parabolic Blends軌跡動畫
- Video: 6-1_Linear Function with Parabolic Blends 1
- Video: 6-1_Linear Function with Parabolic Blends 2
- Video: 6-2_多段Linear Function with Parabolic Blends 1
- Video: 6-2_多段Linear Function with Parabolic Blends 2
- Video: 6-3_Linear Function with Parabolic Blends註解 1
- Video: 6-3_Linear Function with Parabolic Blends註解 2
- Video: 6-4_Cartesian Space下軌跡幾何限制
- Video: 6-5_Revisit the RRR Manipulator 1
- Video: 6-5_Revisit the RRR Manipulator 2
- Peer Review: Final Project - 設計你的機械手臂
Graded: Lecture 6
WEEK 7
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。
5 videos, 1 reading
- Video: 7-1_機械手臂軌跡規劃實例
- Video: 7-2_軌跡規劃實例 方法一 1
- Video: 7-2_軌跡規劃實例 方法一 2
- Video: 7-3_軌跡規劃實例 方法二
- Video: 7-4_註解
- Reading: 邀請您寫下參與課程後的想法（Post-Survey）
Graded: Lecture 7
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WX
非常好，通俗易懂，适合入门。