查詢教學大綱與進度

教學大綱與進度

課程基本資料：

學年期課號課程名稱階段學分時數修教師班級人撤備註

114-1 352087 高等機器人學 1 3.0 3 ★ 張文中電機所
自動化所
電資外生所
機械自動化外生專班 15 0 電機、自動化所、電資外生和機械外生合開

學年期	課號	課程名稱	階段	學分	時數	修	教師	班級	人	撤	備註
114-1	352087	高等機器人學	1	3.0	3	★	張文中	電機所自動化所電資外生所機械自動化外生專班	15	0	電機、自動化所、電資外生和機械外生合開

教學大綱與進度：

教師姓名張文中　教師諮商時間(Office Hours)

Email wchang@ntut.edu.tw

最後更新時間 2025-09-06 14:59:21

課程大綱 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, transformations, and representations for orientation 2. Manipulator kinematics 3. Manipulator inverse kinematics 4. Jacobians: velocities and static forces 5. Manipulator dynamics 6. Trajectory generation and manipulator design 7. EKF-SLAM 8. Advances in manipulators and mobile robotics 9. Paper presentations and reports

課程進度 Tentative schedule 1 09/11 Introduction 2 09/18 Spatial descriptions, transformations, and representations for orientation 3 09/25 Link description and affixing frames to links 4 10/02 Link transformations and forward kinematics examples 5 10/09 Inverse kinematics 6 10/16 Pieper’s solution 7 10/23 Jacobians: velocities and static forces 8 10/30 Manipulator dynamics (1/2) 9 11/06 Midterm examination 10 11/13 Manipulator dynamics (2/2) 11 11/20 Trajectory generation and manipulator design 12 11/27 Extended Kalman Filter 13 12/04 Motion And Measurement 14 12/11 EKF-SLAM 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

評量方式與標準 The final grade will be a weighted average of attendance 10%, in-class open-book homework 30%, midterm 30%, paper presentation and report 30%.

使用教材、參考書目或其他 【遵守智慧財產權觀念，請使用正版教科書，不得使用非法影印教科書】

使用外文原文書：是
1. Introduction to Robotics: Mechanics and Control, 4th Edition, John J. Craig, Pearson Education.

課程諮詢管道 Prof. Wen-Chung Chang
(02)27712171 Ext. 2125, wchang@ntut.edu.tw
Office hours: Check official EE website

TA: Mr. Chi-Fu Ho
(02)27712171 Ext. 2130, t113318133@ntut.edu.tw

延伸教學與資源

課程對應SDGs指標 SDG9：產業創新與基礎設施（Industry, Innovation and Infrastructure）

課程是否導入AI ● 鼓勵學生使用生成式AI工具（Encourage students to use generative AI tools）

備註 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.

教師姓名	張文中　教師諮商時間(Office Hours)
Email	wchang@ntut.edu.tw
最後更新時間	2025-09-06 14:59:21
課程大綱	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, transformations, and representations for orientation 2. Manipulator kinematics 3. Manipulator inverse kinematics 4. Jacobians: velocities and static forces 5. Manipulator dynamics 6. Trajectory generation and manipulator design 7. EKF-SLAM 8. Advances in manipulators and mobile robotics 9. Paper presentations and reports
課程進度	Tentative schedule 1 09/11 Introduction 2 09/18 Spatial descriptions, transformations, and representations for orientation 3 09/25 Link description and affixing frames to links 4 10/02 Link transformations and forward kinematics examples 5 10/09 Inverse kinematics 6 10/16 Pieper’s solution 7 10/23 Jacobians: velocities and static forces 8 10/30 Manipulator dynamics (1/2) 9 11/06 Midterm examination 10 11/13 Manipulator dynamics (2/2) 11 11/20 Trajectory generation and manipulator design 12 11/27 Extended Kalman Filter 13 12/04 Motion And Measurement 14 12/11 EKF-SLAM 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
評量方式與標準	The final grade will be a weighted average of attendance 10%, in-class open-book homework 30%, midterm 30%, paper presentation and report 30%.
使用教材、參考書目或其他	【遵守智慧財產權觀念，請使用正版教科書，不得使用非法影印教科書】使用外文原文書：是 1. Introduction to Robotics: Mechanics and Control, 4th Edition, John J. Craig, Pearson Education.
課程諮詢管道	Prof. Wen-Chung Chang (02)27712171 Ext. 2125, wchang@ntut.edu.tw Office hours: Check official EE website TA: Mr. Chi-Fu Ho (02)27712171 Ext. 2130, t113318133@ntut.edu.tw
延伸教學與資源
課程對應SDGs指標	SDG9：產業創新與基礎設施（Industry, Innovation and Infrastructure）
課程是否導入AI	● 鼓勵學生使用生成式AI工具（Encourage students to use generative AI tools）
備註	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.