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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D(s)n (s j) (s j) (s p1)
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an (s pn )
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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.
机器人简介的作文
机器人简介的作文（中英文版）英文文档：Title: Introduction to RobotsRobots have become an integral part of our daily lives, performing various tasks with precision and efficiency.They are designed to assist humans in numerous ways, making our lives easier and more convenient.In this essay, we will explore the basics of robots, their applications, and the future of this technology.A robot is a mechanical device that is programmed to perform specific tasks.They can be controlled manually or operate autonomously, using artificial intelligence to make decisions and carry out tasks without human intervention.Robots are made up of various components, including sensors, actuators, and a control system.Sensors allow robots to detect their environment, while actuators enable them to interact with their surroundings.The control system processes information from the sensors and determines the appropriate response.Robots have a wide range of applications in different fields.In healthcare, robots are used for surgical procedures, assisting nurses in patient care, and providing companionship to the elderly.In industries, robots are employed for manufacturing, packaging, and logistics, improving productivity and reducing human error.Robots are also usedin cleaning, agriculture, and exploration, among other fields.The future of robotics is promising, with advancements in technology expected to revolutionize various industries.We can expect robots to become more intelligent, adaptable, and capable of working collaboratively with humans.They will continue to perform complex tasks, handle dangerous environments, and provide assistance in healthcare and elderly care.Additionally, robots are expected to play a significant role in space exploration and the development of new technologies.In conclusion, robots are mechanical devices designed to perform specific tasks with precision and efficiency.They have a wide range of applications in various fields and are expected to play an even greater role in the future.As technology advances, robots will become more intelligent and capable, working collaboratively with humans to achieve common goals.中文文档：标题：机器人简介机器人已经成为了我们日常生活中不可或缺的一部分，它们以精确和高效的方式执行各种任务。
[斯坦福大学网络视频课程之机器人学]IntroductionToRobotics-Lecture
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IntroductionToRobotics-Lecture14Instructor (Oussama Khatib):Okay. Okay. Let’s get started. So today’s video segment is about tactile sensing. Now, I wonder what is difficult about building tactile sensors; anyone has an idea? So what is the problem with building a tactile sensor? Oh, you used to see the video first, okay. So, yeah.Student:Do you need functions to be able to, I mean, do you need a perturbation to be able to see what you’re touching sometimes?Instructor (Oussama Khatib):Well, yeah, sometimes you, I mean, a human – tactile sensing is amazing. So you have the static information, so if you grab something, now the whole surface is in contact, and you can determine the shape, right? So what does it mean in term of, like, designing a tactile sensor, just if you think about the static case?Student:It’s soft, malleable.Instructor (Oussama Khatib):Well, you need some softness in the thing you are putting. Then you need to take this whole information, what kind of resolution do you need, if you are touching to feel the edge? You need a lot of pixels, right? So how can you take this information and – first of all, how you determine that information; what kind of procedure do you – yes?Student:Well, there’s an element of pressure, like, how hard you’re – the average – how are you touching on all these different things.Instructor (Oussama Khatib):Okay. So you can imagine, maybe, a sort of resistive or capacitive sensor that will deflect a little bit and give you that information. How many of those you would need? You need, sort of, an array, right? So how large, like, let’s say this is the end of factor. I’m trying to see if you did that problem – you’re going to have a lot of information here, and you need to take it back, and you have a lot of wires; you have a matrix, and you’re going to have a lot of, basically, information to transmit. So, the design of tactile sensors being this problem of how we can put enough sensors, and how we can extract this information and take it back. So these guys came up with an interesting idea; here it is. The light, please. [Video]:A novel tactile sensor using optical phenomenon was developed. In the tactile sensors shown here, light is injected at the edge of an optical wave guide made of transparent material and covered by an elastic rubber cover. There is clearance between the cover and the wave guide. The injected light maintains total internal reflection at the surface of the wave guide and is enclosed within it. When an object makes contact with it, the rubber cover depresses and touches the wave guide. Scattered light arises at the point of contact due to the change of the reflection condition. Such tactile information can be converted into a visual image.Using this principle, a prototype finger-shaped tactile sensor with a hemispherical surface was developed. A CCD camera is installed inside the wave guide to detect scattered light arising at the contact location on the sensor’s surface. The image from the CCD camera is sent to the computer, and the location of the scattered light is determined by the image processing software. Using this information, the object’s point of contact on the sensor’s surface can be calculated.To improve the size and the operational speed of the sensor, a miniaturized version was developed. The hemispherical wave guide with cover, the light source infrared LED’s, a position-sensitive detector for converting the location of the optical input into an electric signal, and the amplifier circuit were integrated in the sensor body.The scattered light arising at the point of contact is transmitted to the detector through a bundle of optical fibers. By processing the detector’s electric signal by computer, it is possible to determine the contact location on the sensor’s surface in 1.5 milliseconds. Through further miniaturization, a fingertip diameter of 20 millimeters has been achieved in the latest version of the tactile sensor. It is currently planned to install this tactile sensor in a robotic hand with the aim of improving its dexterity.Instructor (Oussama Khatib):Okay. A cool idea, right? Because now you’re taking this information, and taking it into a visual image, and transmitting the image, and, in fact, this was done a long time ago. I believe the emperor of Japan was visiting that laboratory, and he saw this, and he was quite impressed.Before starting the lecture, just wanted to remind you that we are going to have two review sessions on Tuesday and Wednesday next week, and we will, again, sign up for two groups. I hope we will have a balance between those who are coming on Tuesday and Wednesday. We will do the signing up next Monday, so those who are not here today, be sure to come on Monday to sign up, all right?Okay. Last lecture we discussed the controlled structure. We were talking still about one degree of freedom, and we are going to pursue that discussion with one degree of freedom. So we are looking at the dynamic model of a mass moving at some acceleration, X double dot, and controlled by a force, F. So the control of this robot is done through this proportional derivative controller involving minus KP, X desired and minus KV, X dot. So the KP is your position gain, and the KV is your velocity gain.Now, if we take this blue controller and move it to the left, the closed loop behavior is going to be written as this second order equation, and in this equation, we can see that we have, sort of, mass, string, damper system whose rest position is at the desired XD position. So KV is your velocity gain, and KP is the position gain.Now, if we rewrite this equation by dividing it by M, we are going to be able to see what closed loop frequency we have and what damping ratio we have, and every time, the lecture time, this finishes. So what is your closed loop frequency? KP is equal to 10, and the mass is equal to 1; what is the closed loop frequency?Student:Square root of 10.Instructor (Oussama Khatib):Square root of 10, and what is the damping ratio? A little bit more complicated, but we can rewrite this same equation in this form, 2 zeta omega and omega square where omega is your closed loop frequency, and where zeta is this coefficient, KV divided by 2 square root of KM, and omega is simply the closed loop frequency square root of KP divided by M.So you remember this, but now the difference with before, before we had natural frequency, so we were talking about natural frequency and natural damping ratio. Now, this is your gain, and you are closing the loops, so this is your control gain; it’s the closed loop damping ratio and the closed loop frequency, okay? So the only difference is instead of a natural system with spring and damper, now we are artificially creating a frequency through this closed loop, or we are creating this damping ratio through KV.So, basically, this is what you are going to try to do, you are going to take your robot; you are going to find those gains, KP and KV, and try to control the robot with those gains. So, again, thinking about KP and KV, KV is affecting zeta, right? And KP is also affecting your omega. Now, when you are going to control your robot, what is the objective; what are you going to try to do? Let’s think about it. You’re trying to go somewhere, right, or you are trying to track a trajectory. So what do you want to achieve with those, I mean, here is your behavior; what would be good to achieve here? Yes. Student:It could see in critical damping.Instructor (Oussama Khatib):So we want to have a critically damped system most of the time, so we will reach those goal positions as quickly as possible without oscillation. So KV would be selected to achieve that value, and for that critically damped system, what is the value of zeta; anyone remembers? It was only two days ago. Zeta is equal to – for critically damped systems, zeta is equal to unity, 1. When zeta is equal to 1, that is when KV is equal to 2 square root of KPM, you have critically damped system.So, basically, if you know your KP, if you already selected your KP, and if you want critically damped system, then immediately you can compute KV from M and KP, right, for that value, for zeta. So, basically, you are trying to set zeta. What about omega? So now, we need to set KP in order to compute zeta, and how do we set omega? Someone? No idea? So you have your robot, you go and you want to control, let’s say, Joint 3. We can do it if you want. Where’s my glasses? Here’s the simulator. Oh, that doesn’t have an F factor. Let’s take this one.So, here are your gains, and right now, if we ask the robot to – so, the robot is floating, and if we ask the robot to go its zero position, it’s going to just move, and it’s moving with a KP equal 400 and KV equal 40. These are the gain we set for the robot, but, in fact, this is controlled also with dynamics. So we will get to this a little later, but if we want to see the control without dynamics, we take this, probably, non-dynamic joint control, so this one.So let’s float it a little bit. Actually, I can exert a little force outside and see if it can move; it’s really solid. Well, okay, won’t move it too much. So let’s reduce the gain here. So this springiness KP is 40. So see, now if I apply a force that is a deflection, right? And when I’m going to release, it’s going to go there, oscillate a little bit, tiny bit, not too much. In fact, this has a lot of friction, natural friction. If we remove the friction and do the same thing, it will probably oscillate more – hm, not enough. Okay. Wow, still there is friction – nope. So let’s put a little bit, minus how much? Minus two, this is -20; I think it will go unstable. Wow. So we see that your gain cannot be negative. It will – can you stop? Okay. We need some friction, otherwise it will not stop.So, in fact, you can see there is a lot of coupling. I moved just one joint, and everything else is moving. Let’s make this gain bigger. This is Joint 1, so if I pull on Joint 2, and the release – look at Joint 3; what is happening? So there is an inertial coupling coming from Joint 2 on Joint 3. Just by moving Joint 2, you are affecting Joint 3. You can see, again, Joint 2, release, and Joint 3 is moving. So in order to avoid that disturbance coming from the dynamic, what should we do with KP? Make it smaller or bigger? You’re not sure. Should we try it?So let’s make it bigger; how big? 400? Okay, 400. Now we realize with 400, this is not damped enough because we need to compute this to make it a little bigger, so let’s make it 20. Okay. So now, what do you expect; the disturbance will increase or will be reduced when I am going to release? More disturbance or less? Heath, less?Student:Less.Instructor (Oussama Khatib):Who agrees with less? Okay, and who disagrees with less? Everyone else, okay. So this is less? Yeah, it is less, actually. You’re removing little faster, and you are still oscillating, and oscillation is because we don’t have enough damping here. So if we increase the damping, it will oscillate less, and if we increase the gain – do you see what is happening now? It’s going very quickly to its position.So, in fact, the coupling – this is the degree – you look at the 90 degree between Joint Link 2 and Link 3. It is maintained, almost. In fact, if I increase Joint 2 as well, it will be hard to move it. So what is happening now with the response; do you see the response when we went to 1600? Faster or slower? Hm? Slower?Student:No.Instructor (Oussama Khatib):Faster. So the dynamic response of the closed loop is faster with higher gain. Well then, should we increase it, like, keep increasing? I don’t know. We can try.Student:But there’s a limit at some point.Instructor (Oussama Khatib):So what is the limit? So let’s make it 3,000. Now, Joint 3 is locked; it’s not moving anymore. Should we make it more? Okay. So what’s going tohappen? It’s not moving anymore. Now, the problem – if this was a real robot, would 30,000 work? Why?Student:Your motor’s gonna saturate at some level in –Instructor (Oussama Khatib):Well, suppose you have big motors. Yeah, saturation of the motors is one thing, but suppose you have really big motors; it’s not a limitation. Student:Wouldn’t you have some sort of air drift?Instructor (Oussama Khatib):Well, we’ll discuss it a little later, but, essentially, what is going to happen is that – remember, inside the structure you have motors, you have transmissions, you have gears, and all of these are going to move, and they have flexibility in the structure. This flexibility makes it that you start to excite those mode of the flexible system, and as you start moving, the motors start to vibrate, and if you have flexibility in the structure, the structures start to vibrate, and when you hit those frequencies of vibration, the system will just go unstable.So our KP, this KP that we want – oh, we closed it. Just one second, let’s go back there. So this KP we have here, this KP cannot go too high. We want it as high as possible to increase what? What it does when KP is high? Disturbance reduction because errors are coming – dynamic coupling coming from other links will be rejected; it’s stiffer. However, a KP cannot go too high because KP is deciding the closed loop frequency, and this closed frequency can go as high as those end-modeled flexibilities. Actually, we cannot even come close to them; we have to stay away from them. So omega cannot be too high, which means KP has a limit, but we want to achieve the highest KP.So what is the relationship between KP, KV, and those performance? So from those two equations, we can write KP is M omega square, and KV is M to zeta omega, right? Just to rewriting these two equations and computing KV and KP. So when we are controlling a system, we are going to set what? We’re going to set, really, the dynamics of the system, which means we need to set zeta and omega. So we set zeta and omega, and we can compute our KP and KV. Most of the time, zeta is equal to one. So KV is M to omega, and so all what is left is to set omega. So for 400, omega is equal to what? In the case of the robot in this simulation, we have 400 KP. So omega is equal to? Come on. Student:[Off mic].Instructor (Oussama Khatib):Square root –Student:[Off mic].Instructor (Oussama Khatib):Divided by – well, M is equal to 1, let’s say, in that case. It’s 20. It’s 20 multiply – what is the frequency, the real frequency?Student:[Off mic].Instructor (Oussama Khatib):Omega divided by 2 Pi, right. So what is your frequency about – let’s say divide by 6, 20 divided by 6. So it’s very low, 3-4 hertz. In fact, if you’re lucky, you can go, well, to 10 hertz. I mean, this would be great. So when we go to 1600, this is really nice, 40 divided by 6.Well, in practice, you start with very low gains, and you start turning your gains up, up, up, up, and suddenly you are going to hit that, noise start to vibrate. So go down, but we will see some ways of doing this in a more precise way, but, again, what you are seeing here is KP and KV – now, if we think about two different links, one link that is heavy, and one link that is light. M equal 1 and M equal 100. Your gain KP is going to be – for the same frequency, is going to be much, much bigger for the bigger link. So that gain is scaled by the mass, and because it is scaled by the mass, we can think about the problem of setting the gains for the unit mass system.You remember we said if I’m moving Joint 2, the inertia of Joint 2 is changing, big, small. So we need to be able to somehow account for the fact – so I set my frequency; I set omega and set zeta, and now I computed KP and KV, but M doubled. So I need to update my gains, right? If I want to move with the same closed loop frequency, I need, somehow, to update my gains, and that becomes nonlinear control. So we talk about the unit mass gains. So let’s just imagine that your system, this mass was unit mass. Your gains will be simply omega square and 2 zeta omega, which is for one, this would be 2 omega. Very simple, just set omega and you get your KP and KV. Okay?But we know the system is not going to be a unit mass. So for this M mass system, what are the gains? Gains from this KP prime and KV prime. What would be KP for M, a system with mass M using KP prime? KP will be M times KP prime, and KV just linear. So you take M, and you scale your gains, okay?Well, what is the big deal about this; why I’m talking about? Well, the big deal is that M is going to change, so even for one changing mass you can make this nonlinear, and scale and track a constant frequency and constant damping ratio, but for a system with many degrees of freedom, we have a mass matrix, and we are going to use the same concept. We are going to say I look at the unit mass system, and then I scale the unit mass system with the mass matrix, and everything will work exactly in the same way, and I will be compensating for the variation of the mass. This is the nonlinear dynamic of the coupling that we’re going to introduce, and it is based on the idea that I design the unit mass system, and then I will scale the unit mass system with the mass matrix. Well, in this case, it is just a scalar, simple mass.So this is what we call the control partitioning. If I have a system with a mass M, I basically – the composite in the mass and the unit mass system. So the blue is the unit mass system, and M is the scaling of the unit mass system. So I can now design a controller for the unit mass system with KP prime and KV prime, and then the KP and KV for the original system will be just scaled by that mass.So here is my controller F. I’m going to write it as M time F prime where F prime is this quantity, a TD controller designed for unit mass. So we always denote this as primes of KV or KP. So when we say prime, we are talking about the unit mass system. The controller of the unit mass system F prime, and F is M times that F prime. That will make more sense when we go through the multi degree of freedom controller because M becomes the mass matrix, okay?So, essentially, we have our initial system that is now controlled as a unit mass system scaled by the mass itself, and the behavior of the whole system is like this – well, the dynamic behavior, the dynamic response and the damping ratio are like this, but we have to be careful about other characteristics like the student’s rejection, stiffness; they are not, and we will see that in a second. The dynamic behavior of the closed loop is like this. So you design your controller for the unit mass and basically, if you scale with that mass, then you have the behavior of the unit mass, okay? So, in this case, what is omega for the system? It is simply the square root of KP prime, okay? And now we are going to introduce one more element. We talked about it Monday, and this is just a tiny nonlinearity. Let’s add some friction.So we started with the system without any nonlinearity, and now I’m just adding a little bit of friction, nonlinear friction, like some stiction on that joint. So the equation changed completely. That is, it’s not nonlinear anymore. We cannot just treat it as a linear system, and we have to deal with a controller that is going to be nonlinear. So how can we deal with this? Come on, ideas.So you have your joint, and it has a gear with, like, some friction that is – or even it has some gravity or whatever. Yes.Student:So if you’ve got a certain type of friction, you can, like, if it’s velocity, then you can put that into the motion equation –Instructor (Oussama Khatib):Um, hm.Student:- and change your V value, your KV.Instructor (Oussama Khatib):KV, you mean.Student:Yeah, yeah.Instructor (Oussama Khatib):The KV. So if it is linear, yeah, I think you can, in fact, integrate it directly into KV, but if it is not nonlinear, like just the gravity. So what do we do – if we have the gravity, what do we do with the gravity? We model it. I know the model because I know the mass, the center of mass, all of these things. So if I can model it, I can somehow, like, anticipate what the gravity is going to be and try to compensate for it, very good. So we can compensate for the gravity.Well, if we have a nonlinear term, what we will do is we put that compensation in the controller. So now the controller, it has the linear part which was F prime alpha F prime. Alpha F prime actually is mass F prime, and now we are going to add another term, beta, which will attempt to compensate for B. You do not know B exactly. You know, sort of, a model with some estimate of B. You don’t know X exactly. You don’t know X dot exactly. You have estimate of these, what we call the X hat, X dot hat, and B hat. Now, B has a structure. If it’s the gravity, it’s going to be, I don’t know, ML cosign that angle, and you can estimate your mass, estimate your length, estimate the position and come up with an estimate of B, which would be B hat.So, in that case, you can say alpha is simply the mass, an estimate of the mass,minus/plus one gram, probably you will find it, and your B hat is going to be an estimate of B given the state, your estimate of the state, and you’ll probably have ten epsilons, little bit more of error. So we’re assuming that we are going to have some errors, but by compensating for those nonlinearities, estimating the gravity and taking it out, later estimating centrifugal coriolis forces and trying to taking them out, we should be able to bring the closed loop system closer to a system that is a unit mass system because with this compensation, if everything was perfect, we compensated perfectly B, then basically beta will take out B. For each configuration, each velocity, beta is exactly compensating for B; it takes it out, and the system is linearized, right? Well, this will never happen in reality, but we will be very close.So this is what we can write. We can say this is our system, and this is the controller. You understand this controller? This controller is a nonlinear controller, but it is attempting to render in the closed loop, your system, to become the coupled linear system. So here’s the result. If B and B hat were identical – if B hat was compensating perfectly for B, and if the estimate of the mass matrix, later this mass was identical to M, then your system will behave this way. So what you designed for F prime will be part of the closed loop of the whole system. We’re talking about 1 degree of freedom, but if we are – later we will see 20 degree of freedom, it would be the same, okay?Well, here is how we can write this system. So our system was F with the output X, X dot, the state. Basically what we are doing is we are looking at the model of the system, and we are using X and X dot to estimate B, the nonlinearities in the system, and compensate for them. So F is going to have a component, which is B hat. In addition, our input control, which is F prime, is going to be scaled by an estimate of M, the mass of the system so that there is a virtual system here that would look like a unit mass system with an input F prime and this same output, and this big box, the red box, is like a system that is linear with unit mass, and that is the purpose of this design. Later, this will be centrifugal coriolis gravity forces, and this would be what – right, the mass matrix. So, in fact, with many degrees of freedom, we will be able to do the same thing where this becomes the mass matrix, and here we will have V and G. You remember V? Centrifugal coriolis, and G, gravity, and you can add the friction as well, okay?So, essentially, we are designing a nonlinear controller to compensate for centrifugal coriolis, gravity, and to decouple the system, to decouple the masses, the inertial forces, and to achieve a unit mass system behavior.Okay. So let’s see our design for F prime. F prime is in this structure, in the decoupled controlled structure, and if you have a desired position XD, what would be F prime? Just a goal position, so our goal position, we have X desired. F prime will be minus, minus something. Who remembers? I’m sure you remember. F prime is?Student:Minus KV prime minus X dot minus KT prime times X minus XD.Instructor (Oussama Khatib):You meant minus KP prime, X minus XD. So minus KV prime X dot minus KP prime, X minus XD, and the closed loop behavior would be very nice. So we linearized the system. All right. Well, most of the time you’re not just going to a goal position. Most of the time you are tracking a trajectory, and on this trajectory you might have, like, you might have different accelerations at different point. You have different velocities, and whereas in this controller, we are just reaching through the goal position. KP prime is trying to reduce the error, and KV prime is trying to put just damping to bring the velocity to zero at the end point, but if you are tracking a trajectory, you have all of these desired things. You have desired position, function of time, desired velocity, and desired acceleration.So we need to design a controller that is more suited for this. So what F prime would be? See, now we forget about the system because we know we can decouple it, make it linear. Let’s think about the unit mass system, how you would design a unit mass system controller, and then you put it in that structure. So what is the objective if you have all these desired things? What should F prime be?Okay. So you see on the top here is F prime. I have some desired acceleration. I have my acceleration, unit mass acceleration, equal to F prime, and I know my desired acceleration; it’s X double dot desired. So if this was really a perfect system, and you are trying to track this acceleration desired, what F prime should be? I think the question is so simple that you cannot believe it. Come on, this is very simple, too simple. So my system is X double dot, and I know the desired acceleration, X double dot desired. What should F prime be? Come on.Student:Minus the cost of minus X double dot, minus X, E double dot.Instructor (Oussama Khatib):Yeah, I think you went too far. That is correct, but I’m just saying if the system was able to respond directly to F prime with no errors, nothing, and my system is X double dot, and have the desired acceleration X double dot desired. What I would do with F prime, just make F prime equal to?Student:X double dot.Instructor (Oussama Khatib):X double dot desired, right? Right? Okay. Okay, you see what we’re talking about? You have your acceleration desired, so just put X double dot equal X double dot desired, and everything should just – you apply this force, and the system should follow X double dot desired, right?Well, it won’t. It will drift because there is really no feedback. You have your acceleration, and you are saying X double dot desired, this is my acceleration desired, and as soon as you start, the system will start accumulating errors, and it will drift. So what should we do? We should do the PD part, and that’s why now we are going to add proportional control to the error, the position error. As you said, minus KP prime, X minus X desired.What about the error in velocity? Because now I have X dot desired. What would be the term that I should use to follow X dot desired? So that would be minus KV – could you finish it? Minus KV –Student:X dot minus X desired dot.Instructor (Oussama Khatib):Exactly, from the error, X minus X dot desired, and I will – so here is the controller. So this time, if I have the full trajectory, I will form errors on the position, on the velocity, and I would feed forward the acceleration. So essentially, you are telling the system follow this desired acceleration. It’s not going – there will be errors, and I’m tightening these errors. So the closed loop behavior of this is going to be controlling the error in acceleration, in velocity, and in position, if I have the full trajectory in time, and that will, basically, if I call X minus X desired the error, then I’m really controlling the error as a second order linear system, all right?Okay. So now, we have to make sure that we can do this with the whole robot, and we have to make sure that this controller could work with those gains that we are trying to achieve, and we start analyzing the system. So let’s imagine that I designed the system, the compensation, with the B hat – I’m sorry, they are not appearing as hats, but this is B hat and M hat, and I get everything over there, but then – now we are talking about the real system. So when we were running the simulation earlier we saw that a small external force will disturb the system. So there are a lot of forces coming from the errors in dynamics, errors in the gravity estimates, nonlinear forces coming from the gears and the friction that will affect this behavior, and as we start introducing disturbances in the system, we are going to see that these gains that we set are going to play a very important role in disturbance rejection.So let’s add a little bit of disturbance here. So if we add some disturbance, going to take a very simple type of disturbance like a bounded disturbance that we are adding from some, like, type of error in the gravity. Imagine that you have this link, and you have a little disturbance coming from the gravity. So what is the affect of this disturbance on the closed loop now?。
Introduction to Robotics_ch04
Kinetic Energy: Cont.
The same can be done for a prismatic joint:
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Kinetic Energy: Cont.
Combining the above and adding actuator inertia and kinetic energies we find the total kinetic energy to be:
Velocity of a point on a robot’s link can be defined by differentiating the position equation of the point, expressed by a frame relative to the robot’s base.
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工业机器人课设参考文献
工业机器人课设参考文献工业机器人课设参考文献引言：工业机器人是现代生产制造领域中的重要一环，其在提高生产效率、降低劳动强度和提升产品质量方面发挥着关键作用。
在工业机器人的设计和应用过程中，课设作为一种实践性的学习任务，可以帮助学生更好地理解和应用相关知识。
本篇文章将为你提供一些工业机器人课设方面的参考文献，以供你参考和借鉴。
一、工业机器人概述：1. Woodson, W. E., & Schott, R. J. (2019). Introduction to Robotics. New York, NY: Springer.该书详细介绍了机器人的发展历程、机器人技术的基本原理以及机器人系统的组成部分。
它还提供了广泛的实例以帮助读者理解机器人在各个领域的应用。
2. Asfahl, C. R. (2016). Industrial Robotics: Theory, Modelling and Control. Hoboken, NJ: Wiley.该书探讨了工业机器人的理论基础、建模方法和控制策略。
它详细介绍了机器人运动学、动力学、传感器和执行器等相关知识，对于设计和控制工业机器人系统非常有帮助。
二、工业机器人应用：1. Khatib, O. (2016). Springer Handbook of Robotics. New York, NY: Springer.这本手册涵盖了机器人学的广泛领域，包括工业机器人的应用。
其中的一些章节特别涉及到了工业机器人在自动化生产、装配、焊接、包装等方面的应用。
2. Siciliano, B., & Khatib, O. (2008). Springer Handbook of Robotics. New York, NY: Springer.该手册包含了工业机器人在制造业中的应用和挑战。
其中的章节涵盖了机器人视觉、语音识别和智能控制等方面的技术，为理解和应用机器人在工业环境中的任务提供了重要参考。
Introduction_to_Robotics 20
Robot Classes
Manipulators: robotic arms. These are
most commonly found in industrial settings. Mobile Robots: unmanned vehicles capable of locomotion. Hybrid Robots: mobile robots with manipulators.
(Images from AAAI and HowStuffWorks, respectively)
Robot Components
Body Effectors Actuators Sensors Controller Software
Robot::Body
Typically defined as a graph of links and joints:
6-DOFs Robot Arm
How many DOFs can you identify in your arm?
Robot::Effectors
Component to accomplish some desired physical function Examples:
Hands Torch Wheels Legs Trumpet?
Roomba Effectors
What are the effectors of the Roomba?
Roomba Effectors
What are the effectors of the Roomba?
Vacuum, brushes, wheels
机器人介绍 英语作文
机器人介绍英语作文Title: Introduction to Robots。
Robots have become an integral part of our lives, revolutionizing various industries and significantly impacting the way we live, work, and interact. In this essay, we will delve into the fascinating world of robots, exploring their history, types, applications, and future prospects.History of Robots:The concept of robots dates back centuries, with early mentions found in ancient mythologies and folklore. However, the modern era of robotics began in the 20th century with the development of automation and the rise of industrial robotics. One of the pioneering figures in robotics was George Devol, who invented the first industrial robot, Unimate, in 1954. Since then, robotics has evolved rapidly, fueled by advancements in technology and engineering.Types of Robots:Robots come in various shapes, sizes, and functionalities, tailored to suit specific tasks and environments. Some common types of robots include:1. Industrial Robots: These robots are designed for manufacturing and assembly tasks in industries such as automotive, electronics, and aerospace. They are equipped with precise manipulators and sensors to perform repetitive tasks with high accuracy and efficiency.2. Service Robots: Service robots are intended toassist humans in everyday tasks, such as cleaning, security, and healthcare. Examples include robotic vacuum cleaners, security drones, and robotic surgical assistants.3. Autonomous Robots: Autonomous robots operate independently, without human intervention, using sensors, algorithms, and AI to navigate and make decisions. They are commonly used in applications like autonomous vehicles,drones, and exploration missions in space and underwater.4. Humanoid Robots: Humanoid robots are designed to resemble humans in appearance and behavior. While still in the early stages of development, they hold promise for applications in customer service, entertainment, and companionship.Applications of Robots:The versatility of robots enables them to be deployed across a wide range of industries and domains. Some notable applications include:1. Manufacturing: Industrial robots play a crucial role in modern manufacturing processes, streamlining production lines, improving efficiency, and ensuring quality control.2. Healthcare: Robots are increasingly being used in healthcare settings for tasks such as surgery, rehabilitation, and patient care. Surgical robots, for example, enable minimally invasive procedures with greaterprecision and control.3. Agriculture: Agricultural robots, or agribots, are utilized for tasks such as planting, harvesting, and monitoring crops. They help increase productivity, reduce labor costs, and optimize resource usage in farming operations.4. Exploration: Robots are employed in space exploration missions to explore distant planets, moons, and asteroids. Robotic rovers like NASA's Curiosity and Perseverance have provided valuable insights into the Martian surface.Future Prospects:The field of robotics continues to advance at a rapid pace, driven by breakthroughs in AI, machine learning, and materials science. Some future trends and developments in robotics include:1. AI Integration: Robots will become more intelligentand adaptable through advanced AI algorithms, enabling them to learn from experience, interact with humans more naturally, and perform complex tasks with greater autonomy.2. Collaborative Robotics: Collaborative robots, or cobots, will work alongside humans in shared workspaces, enhancing productivity and safety. These robots will be designed to collaborate safely and efficiently with human counterparts.3. Soft Robotics: Soft robotics involves the development of robots with flexible and compliant structures, inspired by natural organisms. These robotswill be better suited for tasks that require interaction with delicate objects or environments.4. Ethical and Social Implications: As robots become more integrated into society, there will be growing concerns regarding ethical and social implications, including job displacement, privacy concerns, and ethical decision-making by autonomous systems.In conclusion, robots have emerged as transformative technologies with a wide range of applications and implications for society. As we continue to push the boundaries of robotics, it is essential to consider both the opportunities and challenges they present, ensuring that they are deployed responsibly and ethically for the benefit of humanity.。
如何介绍机器人英文作文
如何介绍机器人英文作文Title: Introduction to Robots。
Robots have become an integral part of modern society, revolutionizing various industries and transforming the way we live and work. In this essay, we will delve into the fascinating world of robots, exploring their history, applications, and future prospects.History of Robots:The concept of robots dates back to ancient times, with early civilizations envisioning mechanical beings capable of performing tasks autonomously. However, the modern era of robotics began in the 20th century with the development of programmable machines. The term "robot" was coined by Czech playwright Karel Čapek in his 1920 play "R.U.R. (Rossum's Universal Robots)", where robots were depicted as artificial beings created to serve humans.Types of Robots:Robots come in various shapes and sizes, each designed for specific purposes. Industrial robots, for instance, are used in manufacturing processes to perform repetitive tasks with precision and efficiency. Service robots, on the other hand, are deployed in sectors such as healthcare, hospitality, and retail to assist humans in tasks ranging from caregiving to customer service.Applications of Robots:The applications of robots are vast and diverse. In manufacturing, robots are utilized for tasks like welding, painting, and assembly, leading to increased productivity and cost savings for companies. In healthcare, robots are employed for surgical procedures, rehabilitation therapy, and patient care, enhancing treatment outcomes and improving quality of life. Additionally, robots are used in exploration and rescue missions, space exploration, agriculture, and even entertainment.Challenges and Ethical Considerations:While robots offer numerous benefits, their widespread adoption also presents challenges and ethical considerations. One concern is the potential impact of automation on employment, as robots replace human workers in certain industries. Additionally, there are ethical dilemmas surrounding issues such as privacy, safety, and the use of autonomous weapons.Future Prospects:Looking ahead, the future of robotics holds immense promise. Advances in artificial intelligence, machine learning, and sensor technologies are driving innovation in robotics, enabling the development of more intelligent, versatile, and autonomous machines. From self-driving cars to humanoid robots capable of human-like interactions, the possibilities are endless.In conclusion, robots have evolved from fictional characters to indispensable tools in our modern world. Astechnology continues to advance, robots will play an increasingly significant role in shaping the future of society. However, it is essential to approach their development and deployment with careful consideration of the ethical, social, and economic implications. Only then can we fully harness the potential of robotics for the benefit of humanity.。
介绍机器人英语写作范文学生手写
介绍机器人英语写作范文学生手写Introduction to Robot English Writing for Students' HandwritingWith the advancement of technology, robots have played an increasingly important role in various fields. One of the areas that robots have made significant progress is in writing. In the past, robots were only capable of performing repetitive tasks, but now they have the ability to write essays, articles, and even novels. In this article, we will introduce how robot English writing can benefit students' handwriting skills.One of the main advantages of robot English writing is that it can provide students with a guideline for their handwriting. Robots are programmed to follow specific rules and patterns when writing, which can help students understand the fundamentals of handwriting. By observing how robots write, students can learn about the correct formation of letters, spacing between words, and overall structure of a piece of writing.Robot English writing can also serve as a tool for practicing handwriting. Students can input their own texts into the robot and watch as it writes out their words in a neat and legible manner. This can help students improve their penmanship anddevelop a consistent writing style. Additionally, students can use robot writing to practice different styles of writing, such as cursive, print, or calligraphy.Furthermore, robot English writing can assist students in composing essays and other written assignments. By utilizing a robot to write out their ideas, students can focus on the content of their writing without having to worry about the mechanics of handwriting. This can help students to more effectively communicate their thoughts and ideas in a clear and organized manner.In addition, robot English writing can be a valuable tool for students with learning disabilities or physical impairments. For students who struggle with handwriting, using a robot to write for them can alleviate the frustration and anxiety that often accompanies writing tasks. By providing a reliable and accurate means of recording their thoughts, robots can empower students to express themselves more freely and confidently.Overall, robot English writing offers numerous benefits for students' handwriting skills. From providing guidance and practice to facilitating the composition of written assignments, robots can be a valuable tool for enhancing students' writing abilities. By integrating robot writing into the classroom,educators can help students to develop strong handwriting skills and improve their overall writing proficiency.。
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University of Pennsylvania
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University of Pennsylvania
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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
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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
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University of Pennsylvania
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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
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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
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University of Pennsylvania
6
MEAM 520
The Honda Humanoid
MEAM 520
The Honda Humanoid
University of Pennsylvania
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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
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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
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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
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University of Pennsylvania
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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
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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