introduction to robotics
《机器人学导论》课程教学大纲
《机器人学导论》课程教学大纲课程名称：机器人学导论课程编号：BF（英文）：Introduction to Robotics先修课程：线性代数、机构学、自动控制适用专业：机械电子、机械工程及自动化开课系（所）：机械与动力工程学院机器人研究所教材和教学参考书：1．1．教材：机器人学、蔡自兴、清华大学出版社、20002．教学参考书: 机器人学导论，约翰J.克雷格、西北工业大学出版社、1987 注：上述教材和参考书将根据教材课购买情况可互换一、一、本课程的性质、地位、作用和任务面对21世纪知识经济时代的机遇与挑战，人类（地球人）正在以非凡的智慧构思新世纪的蓝图。
世界的明天将更加美好。
但是，地球人在发展中也面临着环境、人口、资源、战争和贫困等普遍问题，同时还要学会与机器人共处,这是21世纪地球人必须正视和处理的紧要问题，是影响地球人生存和发展的休戚与共的重大事件。
机器人学是一门高度交叉的前沿学科，机器人技术是集力学、机械学、生物学、人类学、计算机科学与工程、控制论与控制工程学、电子工程学、人工智能、社会学等多学科知识之大成，是一项综合性很强的新技术。
自第一台电子编程工业机器人问世以来，机器人学已取得令人瞩目的成就。
正如宋健教授1999年7月5日在国际自动控制联合会第14届大会报告中所指出的：“机器人学的进步和应用是本世纪自动控制最有说服力的成就，是当代最高意义上的自动化。
”机器人技术的出现与发展，不但使传统的工业生产面貌发生根本性的变化，而且将对人类的社会生活产生深远的影响。
二、二、本课程的教学内容和基本要求1．1．绪言简述机器人学的起源与发展，讨论机器人学的定义，分析机器人的特点、结构与分类。
2．2．机器人学的数学基础空间任意点的位置和姿态变换、坐标变换、齐次坐标变换、物体的变换和逆变换，以及通用旋转变换等。
3．3．机器人运动方程的表示与求解机械手运动姿态、方向角、运动位置和坐标的运动方程以及连杆变换矩阵的表示，欧拉变换、滚-仰-偏变换和球面变换等求解方法，机器人微分运动及其雅可比矩阵等4．4．机器人动力学机器人动力学方程、动态特性和静态特性；着重分析机械手动力学方程的两种求法，即拉格朗日功能平衡法和牛顿-欧拉动态平衡法；然后总结出建立拉格朗日方程的步骤5．5．机器人的控制机器人控制与规划6．6．机器人学的现状、未来包括国内外机器人技术和市场的发展现状和预测、21世纪机器人技术的发展趋势、我国新世纪机器人学的发展战略等。
机器人控制技术 (4)
Introduction to Robotics:ControlProfessor Qihong ChenSchool of Automation, Wuhan Univ. ofTechnologyE‐mail: qh_chen@TextbookReferenceChapter 1 Introduction1.1 BackgroundIndustrial robot became identifiable as a unique device in the 1960s. The latest trends inthe automation of the manufacturing process:•Industrial Robot(computer•CAD ‐aided design)•CAM (computer‐aided manufacturing)ofunit sNumber•Undersea robot (Germany)This course focuses on the control of the pmost important form of the industrial robot, mechanical manipulator121.2 The control of mechanical Manipulator 1.2.1 Description of position and orientationIn robotics, we constantlythe study of are concerned with the location of objects in three‐dimensionalspaceCoordinate system (Frame)•Any frame can serve as a reference system within which position and orientation to express the of a bodydescription of these attributes •Transforming the from one frame to another1221.2.2 Forward Kinematics •Kinematics is the science of motion that treatsi i i h i f i h motion without regard to the forces which cause it.•Within the science of kinematics, one studies,position, velocity, acceleration, and all higherporder derivatives of the position variables •The study of the kinematics of manipulators refers to all the geometrical and time‐based properties of the motion•Degrees of freedom (DOF)Thenumber of independent position variables.In the case of typical industrial robot, theq j number of DOF equals the number of joints:(1) A manipulator is usually an open chain(2) each joint position is defined with a single variable•Forward kinematics is a static geometrical p p g pproblem of computing the position and orientation of the end‐effector of the manipulator1231.2.3 Inverse kinematicsGiven the position and orientation of thepend‐effector of the manipulator, calculate all possible sets of joint angles that could be used to attain this given orientation.position and orientation•Singularity of mechanismThat does not prevent arobot arm from positioning anywhere within its workspace,the but can cause problems with motions of arm in their neighborhood.1.2.4 Dynamics124Dynamics is a huge field of study devoted to y g qstudying the forces required to cause motion.One method of controlling a manipulator to O h d f lli i l follow a desired path involves calculating actuator torque functions by using the dynamic equations of motion of the manipulator.1.2.5 Trajectory generation125A common way of moving a manipulator from here to there in a smooth,controlled fashion is to cause each joint to move as specified by a smooth function of time.timeExactly how to compute these motion functions is the problem trajectoryof generation.126position1.2.6 Linear controlActuators: stepper motors, servo motorsA primary concern of a position control is to compensate automatically for:()g p(1) Errors in knowledge of the parameters(2) Suppress disturbancepIn order to cause the manipulator to follow the desired trajectory, a position control system be implemented.must implemented1271.2.7 Force controlControl forces of contact when it touches pparts, tools, etcp y pComplementary to position control1.2.8 Programming robots 128•Robot programming language‐interface •Flexible‐different fromfixed automation。
介绍机器人英文版作文
介绍机器人英文版作文Title: Introduction to Robots。
In the realm of technological innovation, robots have emerged as one of the most intriguing and transformative inventions of the modern era. These mechanical marvels, often endowed with artificial intelligence, have transcended their initial conception as mere tools of automation to become indispensable companions in various spheres of human endeavor. In this essay, we will delveinto the fascinating world of robots, exploring their origins, capabilities, and the profound impact they have had on society.Robots can trace their origins back to ancient times, albeit in rudimentary forms. The earliest recorded instances of automated machines date back to ancient China, where inventors crafted mechanical figures capable of performing simple tasks. However, it was not until the 20th century that robots as we know them today began to takeshape, thanks to advancements in engineering, electronics, and computing.One of the defining features of robots is their versatility. From industrial robots meticulously assembling automobiles on factory floors to robotic surgeons performing delicate procedures with unparalleled precision, these machines have proven themselves invaluable across a myriad of industries. In agriculture, robots equipped with sensors and algorithms can autonomously plant, monitor, and harvest crops, revolutionizing traditional farming practices. Similarly, in healthcare, robots assist healthcare professionals in tasks ranging from patient care to drug dispensation, augmenting human capabilities and improving patient outcomes.The integration of artificial intelligence (AI) has been instrumental in enhancing the capabilities of robots. Through machine learning algorithms, robots can adapt to new environments, learn from experience, and even exhibit a degree of autonomy in decision-making. This ability to learn and evolve has led to the emergence of autonomousrobots capable of navigating complex environments, such as self-driving cars and drones.Beyond their practical applications, robots have also found their way into the realm of entertainment and companionship. From the lovable droids of science fiction franchises to the interactive robots designed for educational purposes, these machines have captivated the imagination of people young and old. In homes and classrooms, companion robots offer assistance, companionship, and even serve as tutors, providing personalized learning experiences tailored to individual needs.However, the rise of robots has also sparked debates and concerns regarding their societal implications. Questions surrounding job displacement, ethical considerations in AI development, and the potential for misuse of autonomous weapons have prompted calls for careful regulation and ethical guidelines governing the deployment of robots.In conclusion, robots represent a remarkable fusion of engineering prowess and artificial intelligence, offering unprecedented opportunities to enhance productivity,improve quality of life, and expand the frontiers of human achievement. As we continue to unlock their full potential, it is imperative that we approach the development and deployment of robots with foresight, ensuring that they serve to augment, rather than replace, the human experience.。
机器人毕业设计参考文献
机器人毕业设计参考文献以下是一些关于机器人毕业设计的参考文献：1. "Robot Operating System for Mobile Robotics Applications" by Anis Koubaa2. "Robotics: Modelling, Planning and Control" by Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo3. "Robotics: State of the Art and Future Challenges" edited by Jadran Lenarčič, Baochuan Li4. "Introduction to Autonomous Robots: Kinematics, Perception, Localization and Planning" by Nikolaus Correll5. "Introduction to Robotics: Analysis, Systems, Applications" by Saeed B. Niku6. "Robotics, Vision and Control: Fundamental Algorithms in MATLAB" by Peter Corke7. "Principles of Robot Motion: Theory, Algorithms, and Implementations" by Howie Choset, Kevin M. Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia E. Kavraki, Sebastian Thrun8. "Robotics Automation and Control" edited by Abul Hasan Siddiqi, Mahesh Chavan, Anish Goel, Anurag Mishra, Prashantha Jayaram, Navin Kumar, Rajesh S. Bansode9. "Introduction to Mechatronics and Measurement Systems" by David G. Alciatore, Michael B. Histand10. "Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms" by Jorge Angeles请注意，具体参考文献的选择应根据你的研究主题和方向进行调整。
Introduction to Robotics_ch06
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p1, p2
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F(s) N(s)m
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a1
D(s)n (s j) (s j) (s p1)
and:
an (s pn )
f (t) c1e( j)t c2e( j)t a1e p1t
Transfer Function
The equation that represents the ratio of output to input in a system.
Inverse Laplace Transform: Cont.
If F (s) N (s)m D(s)n where N(s) and D(s) are the numerator and
denominator, we can break the equation into the following form where z and p values are zeros and poles:
Transfer Function: Cont.
Closed-loop transfer function is the ratio of output to input for the system.
Y(s) G(s)E(s) E(s) R(s) B(s) R(s) Y (s)H (s)
Inverse Laplace Transform
The process of converting an s-domain equation into t-domain.
Two methods are used:
Application of tables such as discussed earlier, Partial fraction expansion method
介绍机器人小作文英语
介绍机器人小作文英语Introduction to Robots。
In the era of rapid technological advancement, robots have emerged as one of the most fascinating and revolutionary creations of human ingenuity. These mechanical marvels, once confined to the realm of science fiction, are now an integral part of our daily lives, revolutionizing industries, enhancing productivity, and even serving as companions in our homes.At the heart of every robot lies sophisticated engineering and cutting-edge technology. These machines are designed to perform tasks autonomously, guided by complex algorithms and programming. From simple household chores to intricate surgical procedures, robots exhibit remarkable precision and efficiency, surpassing human capabilities in many aspects.One of the most significant applications of robots isin industrial automation. In factories and manufacturing facilities worldwide, robots tirelessly assemble products, weld components, and perform repetitive tasks with unmatched speed and accuracy. By automating these processes, companies can streamline production, reduce costs, and improve overall efficiency.Moreover, robots play a crucial role in hazardous environments where human presence may pose risks. Fromdeep-sea exploration to space missions, robots venture into the most extreme conditions, gathering valuable data and enabling scientific discoveries that were once unimaginable. Their ability to withstand harsh environments and operatein remote locations makes them indispensable tools for exploration and research.In addition to their industrial and scientific applications, robots are increasingly becoming part of our everyday lives. From robotic vacuum cleaners that keep our homes tidy to personal assistant robots that help withdaily tasks, these machines are reshaping the way we live and interact with our environment. They provide assistanceto the elderly and individuals with disabilities, offering support and improving quality of life.Furthermore, robots are transforming the field of healthcare, revolutionizing patient care and medical procedures. Surgical robots, equipped with advanced imaging systems and precision instruments, enable surgeons to perform minimally invasive surgeries with unparalleled accuracy, reducing recovery times and improving outcomes. Additionally, robots assist in rehabilitation therapy, helping patients regain mobility and independence.Beyond their practical applications, robots also hold immense potential in the realm of entertainment and creativity. From robotic companions that engage in conversation to AI-powered artists that create visual masterpieces, these machines push the boundaries of human imagination and creativity. They inspire awe and fascination, sparking new avenues of exploration and innovation.However, along with their countless benefits, robotsalso raise ethical and societal concerns. Questions about job displacement, privacy, and autonomy loom large as automation continues to advance. It is essential to address these challenges proactively, ensuring that the benefits of robotics are equitably distributed and that ethical standards guide their development and deployment.In conclusion, robots represent a remarkable fusion of technology and imagination, offering boundless potential to enhance our lives and shape the future. As we continue to harness the power of robotics, it is imperative to embrace innovation responsibly, fostering a future where humans and machines coexist harmoniously, ushering in a new era of progress and possibility.。
机器人导论-英文版
Outline
Introduction Robot Components Kinematics Dynamics Control Motion Planning Simulation
Outline
Introduction Robot Components Kinematics Dynamics Control Motion Planning Simulation
History
The idea of robot goes back to ancient time of china.
The Spring and Autumn Period, our country had a renowned carpenter Lu Ban（鲁班）. He was also an inventor in the mechanical aspect, according to “Mo Jing”（《墨经》） records. Once he had made a wooden bird that could in the aerial flight “on three days”, which manifest working people's intelligent wisdom in our country.
张 衡
计里鼓车
History
The idea of robot goes back to ancient time of china.
诸葛亮
Eastern Han Dynasty Three Kingdom era, Shu Prime Minister Zhuge Liang created a ancient transport vehicle called “wooden cattle and walking horse” successfully, and shipped the military provisions to the warfront with it.
介绍robot的高考英语书面表达
介绍robot的高考英语书面表达Introduction to RobotAs technology continues to advance, robots have become an increasingly integral part of our everyday lives. From the manufacturing industry to household chores, robots have revolutionized the way we live and work. In this article, we will explore the various types of robots, their applications, and the impact they have on society.Types of RobotsThere are several different types of robots, each designed for specific tasks and environments. Industrial robots, for example, are used in manufacturing plants to perform repetitive tasks such as welding, painting, and assembly. These robots are often equipped with sensors and cameras to navigate their surroundings and interact with humans.Service robots, on the other hand, are designed to assist humans in a variety of tasks. These robots can be found in hospitals, airports, and even homes, where they perform tasks such as cleaning, security, and customer service. Some service robots are even capable of learning from their interactions with humans, allowing them to adapt to new environments and tasks.Medical robots are another important type of robot, used in hospitals and medical facilities to assist surgeons during procedures. These robots can perform precise movements and delicate tasks with far greater accuracy than a human surgeon, reducing the risk of errors and improving patient outcomes.Applications of RobotsRobots are used in a wide range of industries and applications, from manufacturing and healthcare to agriculture and the military. In the manufacturing industry, robots are used to increase efficiency and productivity, performing tasks that are too dangerous or repetitive for humans to do. This has led to significant cost savings for companies and improved quality of products.In healthcare, robots are used to assist with surgeries, rehabilitation, and patient care. Surgical robots, for example, can perform minimally invasive procedures with greater precision and control than a human surgeon, reducing the risk of complications and speeding up recovery times. Robots are also used in elderly care facilities to assist with tasks such as lifting and transportation, helping to improve the quality of life for residents.In agriculture, robots are used to automate tasks such as planting, watering, and harvesting crops. These robots can navigate fields autonomously, using sensors and cameras to detect and respond to changes in the environment. This has led to increased efficiency and reduced labor costs for farmers, allowing them to produce more food with fewer resources.Impact on SocietyThe increasing use of robots in various industries has raised concerns about the impact they will have on society. Some fear that robots will replace human workers, leading to widespread unemployment and social upheaval. While it is true that robots are capable of performing many tasks more efficiently and accurately than humans, they are also creating new job opportunities in fields such as robotics engineering, programming, and maintenance.Furthermore, robots have the potential to improve the quality of life for people by performing dangerous or repetitive tasks, freeing up humans to focus on more creative and fulfilling work. In healthcare, for example, robots are helping to extend the capabilities of healthcare professionals, reducing errors and improving patient outcomes. In the manufacturing industry, robots are increasing productivity and quality standards, leadingto higher wages and better working conditions for human workers.Overall, robots have the potential to revolutionize the way we live and work, offering a wide range of benefits and opportunities for society. By understanding the various types of robots, their applications, and the impact they have on society, we can better prepare for a future where robots play an increasingly important role in our everyday lives.。
关于机器人的英语演讲稿
关于机器人的英语演讲稿第一篇：关于机器人的英语演讲稿Robotics is the science and technology and application of robots.Stories of artificial helpers and attempts to create them has a long history and is the basis of much science fiction.Robots are generally used to help with jobs that are too dirty or boring for most human beings.The first prgrammable humanoid robot was about 1206 AD.We can make a robot to look like almost anything we want.The most fantasized about are ones that have a humanoid appearance.Think of a repetative task and generally there is probably one on th market that can do what you want.Remember Rosey the robot on The Jetsons, or the robot on Lost in Space.We have come a long way, but we aren't quite that far yet.It is only a matter of time.There are already robots that can do simple tasks like cleaning the floor, or doing the laundry.But these won't be ready for the public until about the year 2010.The cost of the robots is another matter.The robot is based around the structure, which is like the skeleton of the human body.It is the main support system.Next, you have the actuatorsor “muscles” of the robot.This is quite complex, and I won't go into now.Manipulators are the way an object is manipulated.This generally is done by grippers, or effectors.Then there is locomotion to worry about.Do you have a flat surface that it will work on? Then it will probably be a rolling robot.It can be two wheels, four wheels, or on tracks.If there are stairs, or uneven terrain the problem becomes more complex.Walking is difficult to solve, especially if you compare it to how a human walks.If The robot has locomotion, I am assuming it is going from point A to point B.Does it need memory to get to point A and memory toget to point B? It will probably need something similar to radar to be used for crash avoidance.Scientists and researchers are constantly trying to hone the robot into something better.Robots make our life a lot easier.They are in every facet of our life.The computer, garage door opener, unmanned reconnaissance planes, satellites, lawn mowers, a GPS in our car.These are all of robots we we use every day and probably don't think about it.As you can tell, robots can get very complex very quickly.The fancier you make it, the more compkex and expensive it becomes.You are trying to tell an inanimate object how to do something halfway human, and that is complex.People who go all Lou Dobbs about robots.People say things like: All robots look alike.Robots should speak English.Robots are taking all the jobs.Robots don't pay enough taxes.Robots reproduce like bunnies.I don't want my child playing with a robot, or goodness gracious, marrying a robot.An acquaintance of mine, who discriminates against robots, but never actually met one, received a Roomba for Christmas “I pushed its power button,” she said.“It was so cute when it sounded the ”charge,“ and scurried across the floor gobbling up dust bunnies.I love Roomba,” she said.“But I still don't like robots.” It is typical to think that your robot is somehow different from other robots.Those other robots can not be trusted.It may take another generation, one where our children are raised amongst robots, for them to gain acceptance.Like the washing machine and the automobile, robots are part of our future.It is true that robots can be hard to tell apart.I remember Sarah Connor in Terminator II.She damn near wet her pants when a series 800-Model 101 showed up, a few years after she'd sent its twin to the scrap heap.Given a little time, however, she got acquainted with the big, muscle-boundmachine.She fantasized about keeping him on as dad and husband.After all, he got along well with the boy, was a good provider, and would stop at nothing to protect her family.Although robots are loyal and dependable, they do screw up once in a while.I'm thinking of HAL in 2001, A Space Odyssey.He definitely made a mistake of judgment.I still think he deserved a second chance? For every HAL, there are dozens of R2-D2's and 3CPO's.And that cute little WALL-E.Occasionally, there is a bad egg, like ED-209 in RoboCop.Or the Battle Droids in Star Wars.But are they worse than rottweilers and pit bulls? Surely, some of them can be rehabilitated, and make good pets.From an economic point of view, you can't beat robots.They work day and night.They rarely call in sick.They add to the nation's GDP, and don't require pensions or health care.They are terrific with numbers and rarely have math anxiety.RoboDoc performs delicate surgeries 24/7 and he never gets the shakes.But, you ask, “What if they go into politics?” Will they impose their culture, their language, and their way of life on us? Forget about it.No one can resist Big Macs, vacations to Disneyland, and shopping at Walmart.This is America..Face it, robots are here to stay.They are willing to do ANYTHING.They make great maids and gardeners, sweepers and scrubbers, mowers and choppers.There are robots that care for the elderly, wash their dirty bottoms and soon perhaps, play Yahtzee with them.There are robots that imitate pets yet don't require walks nor litter boxes.Even robots that'll go the fridge, grab a cold beer, and bring it to you.If it's eager to watch the Super Bowl, and play Wii Tennis, you got yourself a great roommate.As far as intermarriage with a robot, didn't they try that in The Stepford Wives? Maybe it was just too soon.Most of us are still of of themindset that robotics is something that is rather futuristic.We still may have pictures in our head of humanoid robots, flailing their arms and either attacking the Earth from other planets or perhaps protecting us in some way or another.The fact of the matter is, humanoid robots are still very much futuristic but much of the future of robots is already in existence today.Robots are used in a number of different settings that you might find rather interesting.Here is a little bit about the future of robotics and the fact that much of it is already in existence with what we are doing now.One of the ways in which robots are most often used is in an industrial setting.The automotive industry, for example, makes use of robots on their assembly lines to do a number of different tasks.Unfortunately, this has put many individuals out of a job because the robot was able to do what they used to do on the assembly line more efficiently.Not only that, once the robot is put into place they are able to take care of these repetitive tasks, 24 hours a day, 365 days a year.One of the ways in which robotics is used on a regular basis is in spot welding.Although this used to require a human touch, much of the welding that is now done by robots is so accurate and precise that a human could not possibly take care of it in that way.Many times, this welding needs to be done in an assembly line environment so the same simple task is done over and over again.It will be difficult for anybody to improve on what is already existing in these robotics unless they make them less apt to have difficulties from breaking down.Robots are also able to help us to get out of dangerous situations in many cases.A good example of this is spring painting.Humans used to have to take care of spray painting in the automotive industry and other industrial settings.This put them at risk because they were constantly being exposed todangerous chemicals, even if they wore protective clothing.A robot is not only able to be in these rooms without having to worry about health concerns, they are able to do the painting more evenly and accurately than their human counterparts.Finally, robotics are often used in the development and building of computer chips.These chips are often too small for humans to work on themselves so if or not for the robotics that are put to use in these factories, much of the computer science that we have today would not be in existence.Although they will continue to improve on this and other things in the robotics industry, the fact of the matter is that the modern-day use of robotics is already futuristic.Developing a humanoid robot has long since captured the human imagination and will be the continued focus in the future of robotics.Scientists say there are two obstacles to creating a robot with human or super-human intelligence: vision and processing sensory information.“It is almost impossible to predict when machines will become as clever as humans,” admits Ronald Arkin, a robotics expert at the Mobile Robot Labora tory in Atlanta, Georgia.“Although work in magnetic resonance imaging holds great promise, researchers can now watch areas of the brain light up as individuals carry out specific mental tasks.When we have that knowledge, we can pass it on to computers.”Motor vehicle production is one area where robotics automation is already being used.Yet imagine a world where we can read, have a glass of wine, talk freely on our cell phones or take a nap while our personal automobile drives itself from our workplace to our doorstep.Or perhaps we'll abandon the wheeled prototypes altogether and kick back in our personal flying car like numerous science fiction films predict.So how farare we from such a future?Well, in 2007, the US Defense Advanced Research Project Agency had 83 robotic system vehicles driving through a 60-mile urban course, navigating around other vehicles, pedestrians and obstacles;all without incident.Just three years ago, robotic vehicles couldn't even drive straight across the wide-open desert without crashing.“The robotics industry is developing in much the same way the computer business did thirty years ago,” Microsoft founder Bill Gates observed.So what is in store for the future of robotics in the workplace? The US military is one of the biggest donators to robotic research, as they hope to replace human lives with robotics automation, reducing our casualties in war.Robots are already completing reconnaissance missions, disassembling explosives and firing on enemy itary chiefs are aiming to make a third of all ground vehicles driver-less by 2015.Researchers are also looking at robots similar to those featured in Isaac Asimov's “I Robot” that cooperate together in a swarm-like way to complete complex tasks.Just the size of a small bug, these insect swarms look unassuming but are capable of jamming communication lines, gathering intelligence and firing at enemy combatants.The future of robotics is taking aim at the rapidly aging population, with the end goal of providing for the elderly in places like the US which will see 97 million baby boomers in need of care or in Japan, where 22% of the population is over 65.Currently $1 billion is spent each year researching how autonomous robots can care for the elderly.Secom's “My Spoon” robot, for instance, can feed disabled people by breaking up food into chewable morsels and spooning it into their mouths.“Paro,” another Japanese invention, looks like a baby seal and responds to the affection oflonely elderly patients, while also monitoring their heart rate and health symptoms.机器人是机器人的科学技术和应用。
机器人技术绪论
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Robotics 绪论
0.1.2机器人的定义
美国机器人协会（RIA）定义 日本机器人协会（JIRA）定义 中国机器人定义 国际标准化组织（ISO）定义
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美国机器人协会（RIA-Robot Institute of America）
A reprogrammable multifunctional manipulator designed to move materials, parts, tools or specialized devices through variable programmed motions for the performance of a variety of tasks.
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1.2机器人的特点、 结构与分类
1.2.3机器人的自由度
3）自由度与机动性 一般自由度越多，
机器人越灵巧。
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按机器人的开发内容与应用分类 按开发内容与应用机器人可分为三大类： 一、工业机器人(industrial robot) 工业机器人是在工业生产中使用的机器人的总称，主要用于
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世界标准化组织ISO
A robot is a machine which can be programmed to perform some tasks which involve manipulative or locomotive actions under automatic control.
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University of Pennsylvania
1
University of Pennsylvania
2
MEAM 520
What is a robot?
u Webster
An automatic apparatus or device that performs functions ordinarily ascribed to humans or operates with what appears to be almost human intelligence.
MEAM 520
History
u Origin of the word “robot”
l Czech word “robotnik” l 1920 play by Karel Capek l 1940s - Isaac Asimov’s science fiction
u History of automation
Leg 6 Leg 2 Leg 1
University of Pennsylvania
SParallel robot manipulators (continued)
Planar parallel manipulators
l capable of movements in the horizontal plane
8
MEAM 520
The Honda Humanoid
University of Pennsylvania
MEAM 520
What is a robot?
Definition of a robot revisited
l manipulate objects in the physical world t compare this to a PC manipulating data
Actuators u linear or rotary u electric, hydraulic, pneumatic
Transmissions u to convert rotary to linear motion or linear to rotary motion. u to convert the actuator output into a form that is suitable for
University of Pennsylvania
11
University of Pennsylvania
12
MEAM 520
Anatomy of a robot
Manipulator linkage
The manipulator consists of a set of rigid links connected by joints. The joints are typically rotary or sliding. The last link or the most distal link is called the end effector because it is this link to which a gripper or a tool is attached. Sometimes one distinguishes between this last link and the end effector that is mounted to this link at the tool mounting plate or the tool flange.
t Asimov’s laws of robotics
9
University of Pennsylvania
10
MEAM 520
Definition of a robot
The robot is a computer-controlled device that combines the technology of digital computers with the technology of servocontrol of articulated chains. It should be easily reprogrammed to perform a variety of tasks, and must have sensors that enable it to react and adapt to changing conditions.
University of Pennsylvania
14
MEAM 520
The Stanford Arm
MEAM 520
SCARA Manipulator
The Adept 1850 Palletizer
l Cylindrical workspace
3
l Applications in assembly, palletizing
University of Pennsylvania
5
University of Pennsylvania
6
MEAM 520
The Honda Humanoid
MEAM 520
The Honda Humanoid
University of Pennsylvania
7
University of Pennsylvania
AC TU ATOR FO R THE ELBOW
BAS E S WIVEL
The regional structure for the Cincinnati Milacron T-3 robot
University of Pennsylvania
18
MEAM 520
Parallel robot manipulators
l Industrial revolution (late 18th century) l Mechanical looms
t Jacquard looms t Programmable looms l Crane with motorized grippers (1892) l Mechanical arm for spray painting (1938) l Telecheric/teleoperators (World War II)
l high strength to inertia ratio
l high stiffness l limited workspace
END-E FFE CTOR
l more complicated
ACTUATORS
University of Pennsylvania
20
MEAM 520
Anatomy of a robot
u Numerically controlled machine tool (1952) u Robot with playback memory (1954) u First industrial robot (1962)
Walking robots
MEAM 520
History
u Ralph Moser’s walking machine (1967) u Odetics’ Hexapod (1983) u Adaptive Suspension Vehicle (1985) u Ambler (1993) u Humanoid (1997)
University of Pennsylvania
3
University of Pennsylvania
4
MEAM 520
History
Advent of computers
u First large scale electronic computer (1946)
l Eniac (University of Pennsylvania) l Whirlwind (MIT)
driving the robot linkage. u to locate actuators away from the joints.
University of Pennsylvania
17
MEAM 520
Transmissions
E LBO W J OINT
PASS IVE J OINTS
S HOULDER J O INT
MEAM 520
Introduction to Robotics
Vijay Kumar
University of Pennsylvania Philadelphia, PA
MEAM 520
Introduction to Robotics
Outline u What is a robot? u History u Anatomy of a robot u Trends in robot automation u Robot industry in the U.S. and in the world u Applications
u Robotics Institute of America
A robot is a reprogrammable multifunctional manipulator designed to move material, parts, tools or specialized devices through variable programmed motions for the performance of a variety of tasks.
The manipulator can generally be divided into a l regional structure l orientational structure