Course Syllabus

Course Information：

Year-Semester Course Number Course Name Phase Credits Hours Required/Elective Instructor Class Student NO. Withdraw Note

Spring Semester
Year 2025 345401 robotics 1 3.0 3 ★ Yeh Syh-Shiuh GME
GMT
DME
機電外國學生專班 7 0 機電所.製科所.機電博含外生班合開；限20人

Year-Semester	Course Number	Course Name	Phase	Credits	Hours	Required/Elective	Instructor	Class	Student NO.	Withdraw	Note
Spring Semester Year 2025	345401	robotics	1	3.0	3	★	Yeh Syh-Shiuh	GME GMT DME 機電外國學生專班	7	0	機電所.製科所.機電博含外生班合開；限20人

Course Plan：

Instructor Yeh Syh-Shiuh　Office Hours

Email ssyeh@ntut.edu.tw

Last Updated 2024-12-17 19:07:00

Course Objective Prerequisite courses: Linear Algebra, Differential Equations, Trigonometry, Dynamics, Automatic Control Systems, and Electrical Engineering. Syllabus: This course will teach students kinematic analysis methods, trajectory motion technologies, dynamic analysis methods, and force control methods for manipulators and robot arms. It will enable students to perform robotics research and develop applications in the future. This course first introduces the architectures and industrial applications of various fix-based manipulators and robot arms. Subsequently, this course will cover detailed methods and technologies including kinematic analysis, path and trajectory planning, dynamic analysis, and control design and analysis.

Course Schedule ● Introduction (Lecture Note #1) ● Rigid Motions and Homogeneous Transformations (Lecture Note #2) ● Test #1 ● Forward and Inverse Kinematics (Lecture Note #3) ● Velocity Kinematics – The Jacobian (Lecture Note #4) ● Test #2 ● Independent Joint Control (Lecture Note #5) ● Path and Trajectory Planning (Lecture Note #6) ● Dynamics (Lecture Note #7) ● Multivariable Control (Lecture Note #8) ● Force Control (Lecture Note #9) ● Test #3

Evaluation and grading policy Test #1: 35% Test #2: 35% Test #3: 30%

Materials All right reserved. Do not reproduce without permission.

Foreign-language textbooks:Yes
Robot Modeling and Control, M. K. Spong, S. Hutchinson, M. Vidyasagar, WILEY, 2006. DeltaMOOCx: Robotics (http://tech.deltamoocx.net/)

The access to curricular consultation To discuss the course details, students can email the teacher, contact using the course LINE group, or visit the teacher's office during consultation time (video-discussion mode is also available).

The course corresponds to the SDGs SDG4：優質教育（Quality Education）

Note
　

Instructor	Yeh Syh-Shiuh　Office Hours
Email	ssyeh@ntut.edu.tw
Last Updated	2024-12-17 19:07:00
Course Objective	Prerequisite courses: Linear Algebra, Differential Equations, Trigonometry, Dynamics, Automatic Control Systems, and Electrical Engineering. Syllabus: This course will teach students kinematic analysis methods, trajectory motion technologies, dynamic analysis methods, and force control methods for manipulators and robot arms. It will enable students to perform robotics research and develop applications in the future. This course first introduces the architectures and industrial applications of various fix-based manipulators and robot arms. Subsequently, this course will cover detailed methods and technologies including kinematic analysis, path and trajectory planning, dynamic analysis, and control design and analysis.
Course Schedule	● Introduction (Lecture Note #1) ● Rigid Motions and Homogeneous Transformations (Lecture Note #2) ● Test #1 ● Forward and Inverse Kinematics (Lecture Note #3) ● Velocity Kinematics – The Jacobian (Lecture Note #4) ● Test #2 ● Independent Joint Control (Lecture Note #5) ● Path and Trajectory Planning (Lecture Note #6) ● Dynamics (Lecture Note #7) ● Multivariable Control (Lecture Note #8) ● Force Control (Lecture Note #9) ● Test #3
Evaluation and grading policy	Test #1: 35% Test #2: 35% Test #3: 30%
Materials	All right reserved. Do not reproduce without permission. Foreign-language textbooks:Yes Robot Modeling and Control, M. K. Spong, S. Hutchinson, M. Vidyasagar, WILEY, 2006. DeltaMOOCx: Robotics (http://tech.deltamoocx.net/)
The access to curricular consultation	To discuss the course details, students can email the teacher, contact using the course LINE group, or visit the teacher's office during consultation time (video-discussion mode is also available).
The course corresponds to the SDGs	SDG4：優質教育（Quality Education）
Note