Course Syllabus

Course Information：

Year-Semester	Course Number	Course Name	Phase	Credits	Hours	Required/Elective	Instructor	Class	Student NO.	Withdraw	Note
Fall Semester Year 2025	352087	Advanced Robotic Manipulation	1	3.0	3	★	Chang,Wen-Chung	GEE GAT IEECSG IMMA	3	0	Jointly offered by Electrical Engineering, Automation Technology, and Mechanical Engineering departments.

Course Plan：

Instructor	Chang,Wen-Chung　Office Hours
Email	wchang@ntut.edu.tw
Last Updated	2025-06-01 17:53:53
Course Objective	Advanced robotic manipulation is offered to graduate students interested in learning issues in design and analysis of robotics. In addition to lectures on advances in robotic manipulation and/or mobile robotics, oral presentations and reports on robotics research papers are required. Main topics in the course are as follow. 1. Spatial descriptions and transformations 2. Manipulator kinematics 3. Manipulator inverse kinematics 4. Jacobians: velocities and static forces 5. Manipulator dynamics 6. Trajectory generation and manipulator design 7. Advances in manipulators and mobile robotics 8. Paper presentations and reports。
Course Schedule	Tentative schedule 1 09/11 Introduction 2 09/18 Spatial descriptions and transformations 3 09/25 Representations for orientation 4 10/02 Link description 5 10/09 Affixing frames to links 6 10/16 Link transformations 7 10/23 Forward kinematics examples 8 10/30 Inverse kinematics 9 11/06 Midterm examination 10 11/13 Pieper’s solution 11 11/20 Jacobians: velocities and static forces 12 11/27 Manipulator dynamics (1/2) 13 12/04 Manipulator dynamics (2/2) 14 12/11 Trajectory generation and manipulator design 15 12/18 Advances in manipulators and mobile robotics 16 12/25 Final presentations (1/2) 17 01/01 Holiday 18 01/08 Final presentations (2/2) & Final reports due
Evaluation and grading policy	The final grade will be a weighted average of attendance 10%, in-class open-book homework 30%, midterm 30%, paper presentation and report 30%.
Materials	All right reserved. Do not reproduce without permission. Foreign-language textbooks:Yes 1. Introduction to Robotics: Mechanics and Control, 4th Edition, John J. Craig, Pearson Education.
The access to curricular consultation	Prof. Wen-Chung Chang (02)27712171 Ext. 2125, wchang@ntut.edu.tw Office hours: Check official EE website TA: Mr. Jia-Jie Chen (02)27712171 Ext. 2130, t112318163@ntut.edu.tw
The course corresponds to the SDGs	SDG9：產業創新與基礎設施（Industry, Innovation and Infrastructure）
Does the course incorporate AI	AI2：鼓勵學生使用生成式AI工具（Encourage students to use generative AI tools）
Note	Response to government epidemic alert, course lecture and presentations will be offered online via Microsoft Teams at class hours and recorded lectures are available in iStudy. Please refer to Taipei Tech's iStudy for details about this course.