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Start instantly and learn at your own schedule.

#### Approx. 33 hours to complete

Suggested: 6 hours/week...

#### 100% online

Start instantly and learn at your own 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
3-5_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
Week
5
2 hours to complete

## 機械手臂軌跡規劃 (一)

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...
8 videos (Total 99 min), 1 reading, 1 quiz
8 videos
5-2_Joint Space下的軌跡規劃12m
5-3_Cartesian Space下的軌跡規劃5m
5-4_Cubic Polynomials15m
5-5_多段Cubic Polynomials21m
5-6_General Cubic Polynomials 19m
5-6_General Cubic Polynomials 2 Example 115m
5-6_General Cubic Polynomials 3 Example 29m

1 practice exercise
Quiz 512m
Week
6
4 hours to complete

## 機械手臂軌跡規劃 (二)

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...
9 videos (Total 96 min), 1 reading, 2 quizzes
9 videos
6-1_Linear Function with Parabolic Blends 212m
6-2_多段Linear Function with Parabolic Blends 111m
6-2_多段Linear Function with Parabolic Blends 210m
6-3_Linear Function with Parabolic Blends註解 19m
6-3_Linear Function with Parabolic Blends註解 29m
6-4_Cartesian Space下軌跡幾何限制6m
6-5_Revisit the RRR Manipulator 110m
6-5_Revisit the RRR Manipulator 210m

1 practice exercise
Quiz 616m
Week
7
2 hours to complete

## 手臂軌跡規劃實例

5 videos (Total 78 min), 2 readings, 1 quiz
5 videos
7-2_軌跡規劃實例 方法一 112m
7-2_軌跡規劃實例 方法一 215m
7-3_軌跡規劃實例 方法二16m
7-4_註解14m
Week 7 教材勘誤10m

1 practice exercise
Quiz 730m