一、課程說明(Course Description)
This course provides an overview of robot mechanisms, dynamics, and intelligent controls. Topics include planar and spatial kinematics, multi-rigid-body dynamics, motion planning, control design, actuators, and sensors, and so on. Laboratory assignments provide experience with servo drives, sensors, interface circuitry, and microprocessor-based real-time control. Students will design and fabricate working robotic systems in a group-based term project.

二、指定用書(Text Books)

Textbook:
Class notes


三、參考書籍(References)


References:
1. H. Asada and J.-J. Slotine, Robot Analysis and Control, John Wiley and Sons, Inc, 1986.
2. M. W. Spong and M. Vidyasagar, Robot Dynamics and Control, John Wiley, 1989.
3. Sciavicco, and B. Siciliano, Modeling and Control of Robot Manipulators, The McGraw-Hill Companies, Inc, 1996.
4. Saeed B. Niku, Introduction to Robotics, Analysis, Control, Applications, Wiley, 2nd Edition, 2010.

四、教學方式(Teaching Method)
Lectures using chalkboard and PowerPoint presentations.




五、教學進度(Syllabus)
1.Introduction
2.Review of Mathematical Tools
3.Kinematics
4.Statics
5.Dynamics
6.Trajectory Planning
7.Control Systems
8.Actuators, Drive Systems and Sensors
9.Tele-robotics




六、成績考核(Evaluation)
Homework 40%, Midterm 40%, Term Project 20%



七、可連結之網頁位址

http://moodle.nthu.edu.tw