機器人學一 (Robotics (1))

National Taiwan University via Coursera

Go to Course: https://www.coursera.org/learn/robotics1

Introduction

**Course Review: 机器人的世界 (Robotics (1)) on Coursera** In our rapidly advancing technological landscape, the field of robotics stands out as a pivotal area of study, expanding the frontiers of automation, manufacturing, and artificial intelligence. Among the numerous options available online, the course "机器人学一 (Robotics (1))" on Coursera provides a comprehensive introduction into the realm of robotic motion and kinematics with a particular focus on robotic arms. Here, I will detail the course content, review its strengths and weaknesses, and share my recommendation on whom this course would benefit the most. ### Course Overview "机器人学一" primarily focuses on studying the kinematics and trajectory planning of robotic arms. As the course progresses, students delve into various aspects of motion analysis, gaining a rich understanding vital for anyone looking to explore the practical applications of robotics. ### Learning Objectives By the end of this course, learners are expected to: 1. Understand the ways to describe an object’s motion in space. 2. Grasp the forward and inverse kinematics of multi-joint robotic arms. 3. Comprehend methods for planning movement trajectories. ### Syllabus Breakdown The course is meticulously structured, segmented into several critical components: 1. **Description of Object Motion in Space (Part 1 & 2)**: - Gain insights into the movement of rigid bodies in three dimensions, utilizing rotation matrices and transformation matrices. - Learn to work with Fixed angles and Euler angles, essential for tracking orientation and positioning. 2. **Forward and Inverse Kinematics**: - Understand how to determine the states of a planar 2D arm based on the end effector's position and delve into Pieper’s solution for six degrees of freedom robotic arms. 3. **Trajectory Planning (Parts 1 & 2)**: - Learn to plan smooth trajectories using cubic polynomials including continuous position, velocity, and acceleration. - Explore linear functions with parabolic blends to define smooth linear motions. 4. **Practical Application**: - The capstone project involves a real-world application where students will program a six-degree-of-freedom robotic arm to pick up an object (like a cup) from a table and place it on a designated shelf, reminiscent of common tasks. ### Strengths of the Course 1. **Comprehensive Curriculum**: The structured syllabus provides learners with a well-rounded understanding of kinematics while also emphasizing practical applications. 2. **High Relevance**: The content is highly applicable for engineering and robotics enthusiasts, particularly for those intending to work in automation or robotics development. 3. **Engaging Practical Application**: The hands-on project not only reinforces learned concepts but also offers a satisfying demonstration of how theory translates into practice. 4. **Flexible Learning**: As with most Coursera courses, learners can adapt their study schedules, making it an accessible option for individuals balancing various commitments. ### Areas for Improvement 1. **Language Barrier**: The course is delivered in Chinese, which may pose a challenge for non-Chinese speakers. Subtitles could enhance accessibility. 2. **Depth of Coverage**: While it offers a solid introduction, more advanced topics in robotics may not be covered, possibly limiting the course's appeal to those seeking in-depth expertise. ### Recommendation "机器人学一 (Robotics (1))" is highly recommended for: - Engineering students or professionals looking to broaden their knowledge of robotics and automation. - Hobbyists seeking to understand robotic functionalities and programming techniques. - Anyone interested in the technical aspects of motion in robotics. In conclusion, this course serves as a strong foundation for anyone interested in exploring the principles of robotic motion and kinematics. With its comprehensive curriculum and practical emphasis, it offers valuable skills that can be applied in various engineering fields, making it a worthwhile investment for your educational journey in robotics.

Syllabus

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

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

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

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

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

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

手臂軌跡規劃實例

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。