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先修课程、其它学习要求
Pre-requisites or Other
Academic Requirements
ME303 机械设计基础 Fundamentals of Machine Design
ME307 控制工程基础 Fundamentals of Control Engineering
后续课程、其它学习规划
Courses for which this course
is a pre-requisite
ME403 智能机器人技术 Intelligent Robot Technology
其它要求修读本课程的学系
Cross-listing Dept.
机器人基础是机械制造领域内的专业核心课程,该课程为中英双语授课,详细讲授机器人设计、控制、编程和使用的
技术要点和基础理论,如位姿描述和齐次变换、操作臂的运动学、雅可比、动力学、轨迹规划、控制、机器人语言和离线
编程等。
课程分组项目能够实现以学生掌握知识为目标、通过实验课程项目提高学生实际能力、培养学生国际化思维以及团队
协作管理复合能力的目标。
Fundamentals of Robotics is the core course in the field of mechanical manufacturing. The course will
be taught in both English and Chinese. The technologies in design, control, programming and application
will be described in detail, such as posture description and homogeneous transformation, kinematics,
Jacobian, dynamics, trajectory planning, control, robot language and offline programming, etc.
The projects based on experiments help students to master the corresponding knowledge, improve their
practical ability and train their international thinking method and team cooperation.
机器人基础是机械制造领域内的专业核心课程,主要讲授机器人设计、控制、编程和使用的技术要点和基础理论等方
面的内容。该课程采用中英文授课、课程分组项目能够实现以学生掌握知识为目标,通过实验课程项目提高学生实际能
力、培养学生国际化思维以及团队协作管理复合能力,培养具有原始创新能力的人才、具有集成创新能力的人才。
Fundamentals of Robotics is a core course in the field of mechanical manufacturing. Its main topics
are about of robotics design, control, programming and application concern to technologies and fundamental
theories. This course will be taught in both English and Chinese. The projects based on experiments help
students to master the corresponding knowledge, improve their practical ability and train their
international thinking method and team cooperation.
课程内容及教学日历 (如授课语言以英文为主,则课程内容介绍可以用英文;如团队教学或模块教学,教学日历须注明
主讲人)
Course Contents (in Parts/Chapters/Sections/Weeks. Please notify name of instructor for course section(s), if
this is a team teaching or module course.)
机器人基础介绍
Introduction to fundamental of robotics
空间位姿描述与齐次变换(第 1 部分)
1. 刚体;2. 坐标变换;3. 齐次坐标与齐次变换;4. 齐次变换矩阵计算
Pose description and homogeneous transformation (part 1)