Acerca de este Curso
4.6
28 calificaciones
8 revisiones
本課程主要在學習機械手臂在分析面的運動學和軌跡規劃。 學習目標: 1.瞭解物體在空間中運動的描述方式 2.瞭解多關節機械手臂的順逆運動學 3.瞭解運動軌跡的規劃方式。...
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Sugerido: 6 hours/week

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Globe

Cursos 100 % en línea

Comienza de inmediato y aprende a tu propio ritmo.
Calendar

Fechas límite flexibles

Restablece las fechas límite en función de tus horarios.
Beginner Level

Nivel principiante

Clock

Sugerido: 6 hours/week

Aprox. 30 horas para completar
Comment Dots

Chinese (Traditional)

Subtítulos: Chinese (Traditional)

Programa - Qué aprenderás en este curso

1

Sección
Clock
2 horas para completar

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...
Reading
7 videos (Total: 72 min), 4 readings, 2 quizzes
Video7 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
Reading4 lecturas
【製作團隊】10m
數學輔助軟體: Matlab10m
邀請您花 4 mins 寫下你對這堂課的看法(Pre-Survey)10m
參考書籍/課程投影片10m
Quiz2 ejercicios de práctica
多答案題目輸入方法4m
Quiz 116m

2

Sección
Clock
2 horas para completar

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...
Reading
9 videos (Total: 89 min), 1 reading, 1 quiz
Video9 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
Reading1 lectura
補充資料一 - 觀察座標系的旋轉10m
Quiz1 ejercicio de práctica
Quiz 214m

3

Sección
Clock
2 horas para completar

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...
Reading
9 videos (Total: 103 min), 1 quiz
Video9 videos
3-2_手臂幾何描述12m
3-3_DH表達法8m
3-4_Link Trans 18m
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
Quiz1 ejercicio de práctica
Quiz 310m

4

Sección
Clock
2 horas para completar

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...
Reading
7 videos (Total: 101 min), 1 reading, 1 quiz
Video7 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
Reading1 lectura
「4-4 物件取放任務」 教材勘誤補充10m
Quiz1 ejercicio de práctica
Quiz 416m

Instructor

林沛群

教授(Professor)
機械工程學系(Department of Mechanical Engineering)

Acerca de 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/...

Preguntas Frecuentes

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