Holiday
ENG I工一 216 M7M8W7
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-ba<x>sed real-time control,and Robot Operating System (ROS) programming. Students will design and fabricate working robotic systems in a group-ba<x>sed term project.
Course keywords: robot mechanisms, dynamics, motion planning, control design, actuator, sensor 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
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Average Percentage 80.93
Std. Deviation 5.68
電控學程選修,其餘有意願修課者以加簽方式辦理
限動機系碩士班博士班
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