課程目標
本課程介紹機械控制的數學理論，並嘗試其在機器手臂的實作應用
1. 熟悉單軸機械手臂的差值器控制理論，與實際設計方法
2. 熟悉多軸機械手臂的正向與逆向運動學，與運動公式計算
3. 熟悉單軸機械手臂的差值器控制理論，與實際設計方法
4. 學習產業通用語言 G-Code
5. 熟悉機械手臂路徑規劃理論，與常用的演算法Course Target
This course introduces the mathematical theory of mechanical control and experiments with its practical application on the machine arm
1. Be familiar with the differential control theory of single axial mechanical arm and actual design methods
2. Be familiar with the forward and reverse movement learning of multi-axis mechanical arms and calculation of movement formulas
3. Be familiar with the differential device control theory and actual design methods of single axial mechanical arm
4. Learn the common language of industry G-Code
5. Be familiar with mechanical arm path planning theory and commonly used algorithms
1. Robot Manipulator Control: Theory and Practice 2nd Ed., Frank L. Lewis, Darren M. Dawson and Chaouki T. Abdallah, CRC Press.
2. 機器人控制研究，丁學恭，杭州:浙江大學出版社 2006.
1. Robot Manipulator Control: Theory and Practice 2nd Ed., Frank L. Lewis, Darren M. Dawson and Chaoki T. Abdallah, CRC Press.
2. Research on robot control, Ding Xuegong, Hangzhou: Zhejiang University Press 2006.
| 評分項目 Grading Method | 配分比例 Grading percentage | 說明 Description |
|---|---|---|
| 作業作業 Action |
60 | |
| 期末報告期末報告 Final report |
40 |
