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, microprocessor-based real-time control,and Robot
Operating System (ROS) programming. 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:
B. Siciliano, L. Sciavicco, L. Villani, and G. Oriolo, Robotics: Modeling,
Planning and Control, Springer, 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.Actuators, Drive Systems and Sensors
4.Kinematics
5.Statics
6.Dynamics
7.Mobile Robots
8.Trajectory Planning
9.Control Systems
10. Imaging Processing
六、成績考核(Evaluation)
Homework/Lab assignments 40%, Midterm 40%, Term Project 20%
七、可連結之網頁位址
http://elearn.nthu.edu.tw