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#### Approx. 33 hours to complete

Suggested: 6 hours/week...

#### 100% online

Start instantly and learn at your own schedule.

Reset deadlines in accordance to your schedule.

#### Approx. 33 hours to complete

Suggested: 6 hours/week...

### Syllabus - What you will learn from this course

Week
1
2 hours to complete

## 物體在空間運動之描述 (一)

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

...
7 videos (Total 72 min), 4 readings, 2 quizzes
7 videos
1-1_導論6m
1-2_移動3m
1-3_轉動9m
1-4_Rotation Matrix 114m
1-4_Rotation Matrix 29m
1-4_Rotation Matrix 313m
【製作團隊】10m

2 practice exercises

Quiz 116m
Week
2
2 hours to complete

## 物體在空間運動之描述 (二)

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

...
9 videos (Total 89 min), 1 reading, 1 quiz
9 videos
2-2_Fixed Angles 19m
2-2_Fixed Angles 26m
2-3_Euler Angles 19m
2-3_Euler Angles 29m
2-4_Mapping14m
2-5_Operators 110m
2-5_Operators 25m
2-6_Trans Matrix18m

1 practice exercise
Quiz 214m
Week
3
2 hours to complete

## 機械手臂順運動學

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

...
9 videos (Total 103 min), 1 quiz
9 videos
3-2_手臂幾何描述12m
3-3_DH表達法8m
3-4_Link Trans Example 114m
3-4_Link Trans 3 Example 27m
3-5_Actuator, Joint, and Cartesian Spaces10m
3-6_DH表達法小結 120m
3.6_DH 表達法小結 2 Example10m
1 practice exercise
Quiz 310m
Week
4
2 hours to complete

## 機械手臂逆運動學

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

...
7 videos (Total 101 min), 1 reading, 1 quiz
7 videos
4-2_多重解 115m
4-2_多重解 2 Example 19m
4-2_多重解 3 Example 213m
4-3_Pieper's Solution 117m
4-3_Pieper's Solution 28m
4-4_物件取放任務18m
「4-4 物件取放任務」 教材勘誤補充10m
1 practice exercise
Quiz 416m

## About National Taiwan University

We firmly believe that open access to learning is a powerful socioeconomic equalizer. NTU is especially delighted to join other world-class universities on Coursera and to offer quality university courses to the Chinese-speaking population. We hope to transform the rich rewards of learning from a limited commodity to an experience available to all. More courses information, the official Facebook Page: https://www.facebook.com/ntumooc2017/...

## Frequently Asked Questions

• Once you enroll for a Certificate, you’ll have access to all videos, quizzes, and programming assignments (if applicable). Peer review assignments can only be submitted and reviewed once your session has begun. If you choose to explore the course without purchasing, you may not be able to access certain assignments.