機器人學一 (Robotics (1))

機器人學一 (Robotics (1))

Instructor: 林沛群

14,820 already enrolled

Included with

Learn more

7 modules

Gain insight into a topic and learn the fundamentals.

64 reviews

Beginner level

No prior experience required

2 weeks to complete

at 10 hours a week

Flexible schedule

Learn at your own pace

7 modules

Gain insight into a topic and learn the fundamentals.

64 reviews

Beginner level

No prior experience required

2 weeks to complete

at 10 hours a week

Flexible schedule

Learn at your own pace

Skills you'll gain

Details to know

Shareable certificate

Add to your LinkedIn profile

Assessments

8 assignments¹

AI Graded see disclaimer

Taught in Chinese (Traditional)

See how employees at top companies are mastering in-demand skills

Learn more about Coursera for Business

logos of Petrobras, TATA, Danone, Capgemini, P&G and L'Oreal

There are 7 modules in this course

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。

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

7 videos Total 72 minutes

機器人學導論 14 minutes
1-1_導論 7 minutes
1-2_移動 4 minutes
1-3_轉動 10 minutes
1-4_Rotation Matrix 1 14 minutes
1-4_Rotation Matrix 2 10 minutes
1-4_Rotation Matrix 3 14 minutes

3 readings Total 21 minutes

【製作團隊】 1 minute
數學輔助軟體: Matlab 10 minutes
參考書籍/課程投影片 10 minutes

2 assignments Total 60 minutes

多答案題目輸入方法 30 minutes
Quiz 1 30 minutes

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

9 videos Total 89 minutes

2-1_Rotation Matrix與轉角 5 minutes
2-2_Fixed Angles 1 10 minutes
2-2_Fixed Angles 2 7 minutes
2-3_Euler Angles 1 9 minutes
2-3_Euler Angles 2 10 minutes
2-4_Mapping 15 minutes
2-5_Operators 1 10 minutes
2-5_Operators 2 6 minutes
2-6_Trans Matrix 18 minutes

1 reading Total 10 minutes

補充資料一 - 觀察座標系的旋轉 10 minutes

1 assignment Total 30 minutes

Quiz 2 30 minutes

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

9 videos Total 103 minutes

3-1_順向運動學引言 10 minutes
3-2_手臂幾何描述 12 minutes
3-3_DH表達法 9 minutes
3-4_Link Trans 1 9 minutes
3-4_Link Trans Example 1 15 minutes
3-4_Link Trans 3 Example 2 7 minutes
3-5_Actuator, Joint, and Cartesian Spaces 11 minutes
3-6_DH表達法小結 1 20 minutes
3.6_DH 表達法小結 2 Example 10 minutes

1 assignment Total 30 minutes

Quiz 3 30 minutes

What's included

7 videos1 reading1 assignment

7 videos Total 101 minutes

4-1_逆向運動學引言 17 minutes
4-2_多重解 1 15 minutes
4-2_多重解 2 Example 1 9 minutes
4-2_多重解 3 Example 2 14 minutes
4-3_Pieper's Solution 1 17 minutes
4-3_Pieper's Solution 2 9 minutes
4-4_物件取放任務 19 minutes

1 reading Total 10 minutes

「4-4 物件取放任務」教材勘誤補充 10 minutes

1 assignment Total 30 minutes

Quiz 4 30 minutes

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

8 videos Total 99 minutes

5-1_機械手臂軌跡規劃引言 10 minutes
5-2_Joint Space下的軌跡規劃 12 minutes
5-3_Cartesian Space下的軌跡規劃 6 minutes
5-4_Cubic Polynomials 15 minutes
5-5_多段Cubic Polynomials 22 minutes
5-6_General Cubic Polynomials 1 9 minutes
5-6_General Cubic Polynomials 2 Example 1 16 minutes
5-6_General Cubic Polynomials 3 Example 2 9 minutes

1 reading Total 10 minutes

補充資料二 - 觀察Cubic Spline軌跡動畫 10 minutes

1 assignment Total 30 minutes

Quiz 5 30 minutes

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

9 videos Total 96 minutes

6-1_Linear Function with Parabolic Blends 1 15 minutes
6-1_Linear Function with Parabolic Blends 2 13 minutes
6-2_多段Linear Function with Parabolic Blends 1 11 minutes
6-2_多段Linear Function with Parabolic Blends 2 10 minutes
6-3_Linear Function with Parabolic Blends註解 1 10 minutes
6-3_Linear Function with Parabolic Blends註解 2 10 minutes
6-4_Cartesian Space下軌跡幾何限制 6 minutes
6-5_Revisit the RRR Manipulator 1 10 minutes
6-5_Revisit the RRR Manipulator 2 11 minutes

1 reading Total 10 minutes

補充資料三 - 觀察Linear Function with Parabolic Blends軌跡動畫 10 minutes

1 assignment Total 30 minutes

Quiz 6 30 minutes

1 peer review Total 120 minutes

Final Project - 設計你的機械手臂 120 minutes

本單元為課程的總整應用案例，討論如何以六個自由度機械手臂來進行人類常進行的物件移動任務，而具體目標為將物件（杯子）由桌面拿起掛到牆上的杯架上。需使用到近乎整門課程所學的內容。

What's included

5 videos1 reading1 assignment

Instructor

Instructor ratings

(10 ratings)

林沛群

National Taiwan University

1 Course 14,820 learners

Offered by

National Taiwan University

Explore more from Mechanical Engineering

Siemens
Basics of Robotics
Course
L&T EduTech
Robotics Engineering & Applications
Course
Coursera
Robotics in High-Tech Manufacturing
Course
University of Leeds
How to Get Into Robotics
Course

Why people choose Coursera for their career

Felipe M.

Learner since 2018

"To be able to take courses at my own pace and rhythm has been an amazing experience. I can learn whenever it fits my schedule and mood."

Jennifer J.

Learner since 2020

"I directly applied the concepts and skills I learned from my courses to an exciting new project at work."

Larry W.

Learner since 2021

"When I need courses on topics that my university doesn't offer, Coursera is one of the best places to go."

Chaitanya A.

"Learning isn't just about being better at your job: it's so much more than that. Coursera allows me to learn without limits."

Learner reviews

5 stars
87.50%
4 stars
4.68%
3 stars
3.12%
2 stars
0%
1 star
4.68%

Showing 3 of 64

Reviewed on Sep 21, 2017

雖然我原本有學過一點機器人正逆運動學的計算，但本課程令我更深入的瞭解有不同的表示法、計算方法，並且自己學會使用MATLAB來運算一些較複雜的數學式，但學習門檻較高，必須有數學基礎、程式設計基礎的同學才較容易吸收學習。

Reviewed on Sep 7, 2017

it will be better if the professor scratch in the slide with the pen instead of po

View more reviews

Open new doors with Coursera Plus

Unlimited access to 10,000+ world-class courses, hands-on projects, and job-ready certificate programs - all included in your subscription

Learn more

Advance your career with an online degree

Earn a degree from world-class universities - 100% online

Explore degrees

Join over 3,400 global companies that choose Coursera for Business

Upskill your employees to excel in the digital economy

Learn more

Frequently asked questions

To access the course materials, assignments and to earn a Certificate, you will need to purchase the Certificate experience when you enroll in a course. You can try a Free Trial instead, or apply for Financial Aid. The course may offer 'Full Course, No Certificate' instead. This option lets you see all course materials, submit required assessments, and get a final grade. This also means that you will not be able to purchase a Certificate experience.

When you purchase a Certificate you get access to all course materials, including graded assignments. Upon completing the course, your electronic Certificate will be added to your Accomplishments page - from there, you can print your Certificate or add it to your LinkedIn profile.

Yes. In select learning programs, you can apply for financial aid or a scholarship if you can’t afford the enrollment fee. If fin aid or scholarship is available for your learning program selection, you’ll find a link to apply on the description page.