機器人簡介 影音教學檔案

下方資料是幾年前在系上開授「機器人簡介」課程，部分內容以翻轉教學方式進行時，讓學生在課前自我學習用的數位教材。

由於課程本身有以 J. Craig 的 Introduction to Robotics: Mechanics and Control 做為教科書，基本上這份教材是依循著課本章節內容和順序所編輯錄製出。

這裡所放影音檔案為個人所錄製第一版的數位教材，相關內容後續有進一步編撰彙整並重新錄製，並轉換成為 台大Coursera 線上課程 機器人學一 (Robotics 1)。更新版的線上課程包含了這裡Chap 2, 3, 4, 7四個章節，並添加了許多動畫來輔助學生理解課程內容。因為課程時間長度的限制，討論手臂動態的Chap 5 & 6並未包含其中。但在更新版裡，最後有增補一個六軸手臂的案例，案例中總整應用了課程中大部分的內容。

Chap 2  Spatial Description and Transformations (pdf)
    Translation and orientation (24:24min) (video)
    Mapping (14:03min) (video)
    Operators (10:11min) (video)
    Transformation (16:12min) (video)
    More representations on orientation (13:59min) (video)
    Equivalent angle-axis reprsentation (7:41min) (video)
   

Chap 3  Manipulator Kinematics (pdf)
    Manipulator (8:05min) (video)
    Link description (10:35min) (video)
    DH notations (8:59min) (video)
    Link transformations (8:07min) (video)
    Example: A RRR manipulator (8:35min) (video)
    Example: A RPR manipulator  (12:37min) (video)
    Spaces (9:11min) (video)
    (Standard) DH notations (16:21) (video)
    Example: A PUMA arm (9:56min) (video)
   

Chap 4  Inverse Manipulator Kinematics (pdf)
    Solvability (17:46min) (video)
    Example: A RRR manipulator -I (7:11min) (video)
    Example: A RRR manipulator -II (10:17min) (video)
    Solution by reduction to polynomial (4:52min) (video)
    Pieper's solution (15:31min) (video)
   

Chap 5  Jacobians: Velocity and Static Forces (pdf)
    Time-varying position and orientation (10:15min) (video)
    Rigid body motion (10:58min) (video)
    Velocity propagation (17:41min) (video)
    Jacobians (14:55min) (video)
    Example: A RR manipulator (14:48min) (video)
    Static forces (10:22min) (video)
    Example: A RR manipulator (6:59min) (video)
    Jacobian in the force domain (9:25min) (video)
   

Chap 6  Manipulator Dynamics (pdf)
    Rigid body motion (15:42min) (video)
    Mass distribution (9:03min) (video)
    Acceleration propagation (21:59min) (video)
    Example: A RR manipulator (13:05min) (video)
    Structure of dynamic equation (7:50min) (video)
    Lagrangian  formulation (7:20min) (video)
    Example: A RP manipulator (10:17min) (video)
    Torque equation (7:50min) (video)
   

Chap 7  Trajectory Generation (pdf)
    Trajectory (23:34min) (video)
    Cubic polynomial -I (10:27min) (video)
    Cubic polynomial -II (10:39min) (video)
    Cubic polynomial -III (10:40min) (video)
    Linear function with parabolic blends -I (24:23min) (video)
    Linear function with parabolic blends -II (23:05min) (video)
    Geometric problems (5:51min) (video)