本课程主要在学习机械手臂在分析面的运动学和轨跡规划。
機器人學一 (Robotics (1))
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4.7
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2 weeks to complete
at 10 hours a week
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Assessments
8 assignments
Taught in Chinese (Traditional)
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There are 7 modules in this course
1.描述一個剛體在空間中3個自由度的移動狀態 2.瞭解描述空間中轉動的旋轉矩陣（Rotation matrix）的運算和使用方法
What's included
7 videos3 readings2 assignments
1.瞭解Fixed angles和Euler angles的運算和使用方法 2.瞭解可描述移動和轉動的transformation matrix的運算和使用方法
What's included
9 videos1 reading1 assignment
1.針對平面二維手臂，瞭解如何由已知的手臂末端點狀態求解手臂各關節狀態 2.瞭解如何以Pieper’s solution進行空間六個自由度機械手臂的逆向運動學計算
What's included
9 videos1 assignment
1.針對平面二維手臂，瞭解如何由已知的手臂末端點狀態求解手臂各關節狀態 2.瞭解如何以Pieper’s solution進行空間六個自由度機械手臂的逆向運動學計算
What's included
7 videos1 reading1 assignment
1.瞭解如何以Cubic polynomials來規劃位置、速度、加速度連續的運動軌跡 2.以平面三個自由度機械手臂為例進行演算
What's included
8 videos1 reading1 assignment
1.瞭解如何以linear function with parabolic blends來規劃可等速直線運動的運動軌跡 2.以平面三個自由度機械手臂為例進行演算
What's included
9 videos1 reading1 assignment1 peer review
本单元為课程的总整应用案例，讨论如何以六个自由度机械手臂来进行人类常进行的物件移动任务，而具体目标為将物件（杯子）由桌面拿起掛到墙上的杯架上。需使用到近乎整门课程所学的内容。
What's included
5 videos1 reading1 assignment
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BD
4
Reviewed on Sep 8, 2017
it will be better if the professor scratch in the slide with the pen instead of po
JT
5
Reviewed on Sep 22, 2017
虽然我原本有学过一点机器人正逆运动学的计算，但本课程令我更深入的瞭解有不同的表示法、计算方法，并且自己学会使用惭础罢尝础叠来运算一些较复杂的数学式，但学习门槛较高，必须有数学基础、程式设计基础的同学才较容易吸收学习。
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