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
111-2	316873	機器人學	1	3.0	3	★	葉賜旭	機電所 製科所 機械自動化外生專班 機電博所 機電外國學生專班	0	0	機電所、製科所、機械外生班和機電博外生班合開,限24【停開】

教學大綱與進度：

教師姓名	葉賜旭　教師諮商時間(Office Hours)
Email	ssyeh@ntut.edu.tw
最後更新時間	2022-12-22 17:55:48
課程大綱	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.
課程進度	● Introduction (Lecture Note #1) ● Rigid Motions and Homogeneous Transformations (Lecture Note #2) ● Forward and Inverse Kinematics (Lecture Note #3) ● Test #1 ● Velocity Kinematics – The Jacobian (Lecture Note #4) ● Independent Joint Control (Lecture Note #5) ● Path and Trajectory Planning (Lecture Note #6) ● Test #2 ● Dynamics (Lecture Note #7) ● Multivariable Control (Lecture Note #8) ● Force Control (Lecture Note #9) ● Final exam
評量方式與標準	Test #1: 35% Test #2: 35% Final exam: 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 Robot Modeling and Control, M. K. Spong, S. Hutchinson, M. Vidyasagar, WILEY, 2006. DeltaMOOCx: Robotics (http://tech.deltamoocx.net/)
課程諮詢管道	To discuss the course details, students can email the teacher (ssyeh@ntut.edu.tw), contact using the course LINE group, or visit the teacher's office during consultation time (video-discussion mode is recommended).
備註	In response to the epidemic prevention regulations, the teaching method of this course during the distance learning period is as follows: ● Evaluation method: To comply with the epidemic prevention regulations, this course may require students to go to school for tests. ● Course URL: https://teams.microsoft.com/ ● Course consultation: email or course website. ● Supplementary Note: The teacher can adjust the course content, schedule, and evaluation and grading policy based on the epidemic and actual teaching situation.