Ch1.Introduction to Robotics
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
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
机器人学基础(全套课件470P)
Fundamentals of Robotics
智能科学基础系列课0
Fundamentals of Robotics
1
Ch. 1 Introduction 第1章 绪 论
Ch. 1 Introduction
2
Contents
Course Schedule Top 10 Robotics News of 2008 Development of Robotics Structure, Feature, and Classification of
讲授
2 讲授
2 课堂 报告
2 实验
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教学进度安排（3）
月 日 周次 4 20 8
教学内容 机器人编程
教学 时数
2
教学 课外 备 方式 时数 注
讲授 2
4 23 8
机器人编程训练
2 训练
4 27 9 综合实验:智能机器人的路 2 综合
径规划与行为决策实验
实验
4 30 9
机器人应用
2 讲授
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Ch. 1 Introduction
17
2 Robot ride on a wheelbarrow
➢ In September 2008 Japanese Murata Manufacturing Institute launched a new type of robot riding on a wheelbarrow, named "seiko". This new type of robot can maintain its balance through a series of sensors and gyroscopes, and easy to complete riding of a wheelbarrow.
Introduction to Robotics_ch06
b b2 4ac
p1, p2
2a
Then:
F(s) N(s)m
c1
c2
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
Introduction to Robotics
History of Robotics (cont.)
• Two famous robots:
– Puma. (Programmable Universal Machine for Assembly). ‘78. – SCARA. (Selective Compliant Articulated Robot Assembly). ‘79.
Best soccer player ever
Best robot player ever
A Brief History of Robotics II
• Definition: a robot is a software-controllable mechanical device that uses sensors to guide one or more endeffectors through programmed motions in a workspace in order to manipulate physical objects. • Today’s robots are not androids built to impersonate humans. • Manipulators are anthropomorphic in the sense that they are patterned after the human arm. • Industrial robots: robotic arms or manipulators
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.
Introduction to Robotics_ch01
Robots can process multiple stimuli or tasks simultaneously. Humans can only process one active stimulus.
Cincinnati Milacron™ introduced T3 model robot which became very popular in industry.
The first PUMA robot was shipped to GM by Unimation. GM and Fanuc of Japan signed an agreement to build GMFanuc robots. Robotics became a very popular subject, both in industry as well as
academia. Many programs in the nation started teaching robotic courses. 1983 Unimation was sold to Westinghouse Corporation, who subsequently sold it to the Staubli of Switzerland in 1988.
Advantages and Disadvantages of Robots
Robotics and automation can, in many situations, increase productivity, safety, efficiency, quality, and consistency of products.
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。
机器人概论公选课教学大纲
机器人概论公选课教学大纲课程需称：机器人概论英文名称:Introduction to Robotics总学时：28学时理论学时：26 实验学时：2 总学分：2一.课程的性质、目的及任务本课程属于公共选修课。
目前，机器人已由传统的工业应用领域向娱乐、商业零售、医疗、生物遗传、玩具、建筑、服务业及家庭应用等领域扩展，各行业和每个人的生活都可能提出对机器人的新的使用和设计要求，机器人或类机器人化产品的大规模产业化必将影响每个人的生活或工作。
让各行业的学生了解机器人技术，将有利于实现机电知识和其行业知识的融合，促进各行业的发展。
二.课程教学基本要求本课程综合介绍了机器人技术，设计思想和发展趋势。
主要介绍内容包括：机器人驱动器、操作手关节设讣、手臂、手腕、手，以及进一步完整发展机器人需要的关于腿、动力源、计算机和人工智能等方而的知识。
三•课程教学基本内容第一部分形形色色的机器人■机器人化的机器■工业机器人■服务机器人四. 水下机器人五. 农林业机器人六. 仿人形机器人七. 微型机器人和微操作机器人八. 军用机器人九. 娱乐机器人十. 探险机器人第二部分机器人结构和原理一.机器人手臂1.人臂机械模型2.直角坐标臂3.圆柱坐标臂4.球坐标臂5.SCARA 型臂6.关节式坐标臂7.蜿蜒臂&混合型机械臂设计二.机器人手腕1.人手腕机械模型2.直接驱动手腕3.机器人活动手腕类型三.机器人的手1.人的手2.机器人的手3.灵巧手结构（通用电气、Stanford/JPL、Victor日立、MIT、Jameson、贝尔格莱徳、Odctics、Sarcos、Omni 等）MOTOMAN / SV3机器人原理讲解、工业机器人演示实验四.机器人的腿1.人腿机械模型2.四足、六足腿步态3.机器腿的类型和结构（卡内基•梅隆步行器、步行卡车、伪小马、六足昆虫、“奥徳特”、ASV.双足机器人、动态步行器、HONDA双足步行机器人）＜附1：日本国际机器人展览会录像、麻省理工机器腿实验室机器人录像＞五.遥操作机器人及感觉型自主机器人1.介绍2.动力系统3.传感/反馈机构简单原理4.听力5•控制系统简单结构5.人力放大器简单结构6.遥操作机器人简单原理＜附2：机器人化自动工厂录像〉（总大利菲亚特汽车、辛辛那提•米拉克隆等机器人自动线）＜附3：各国机器人研究现状和机器人的未来发展录像1＞＜附4：各国机器人研究现状和机器人的未来发展录像2＞考核四.学时分配表五•教材及教学参考书教材：自制多媒体课件参考书：Robot Evolution , The Development of Anthrobotics Mark E.Rosheim JOHN WILEY & SONS,INC.六•有关说明1.先修课程：2.培养目标、适用专业：专业不限3.双语教学的要求与比例：4.对学生培养能力的要求，需学生自学而不占用学时部分的内容与要求，考核形式: 考查5.大纲的使用说明：6.撰稿人：李挺2004-6-30。
[斯坦福大学网络视频课程之机器人学]IntroductionToRobotics-Lecture
![[斯坦福大学网络视频课程之机器人学]IntroductionToRobotics-Lecture](https://img.taocdn.com/s3/m/98e8e2add5bbfd0a79567399.png)
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?。
机器人介绍英语作文
机器人介绍英语作文Introduction to Robots。
Robots are becoming an increasingly common presence in our daily lives. These mechanical beings are designed to perform a wide range of tasks, from simple household chores to complex industrial operations. With their advanced capabilities and versatility, robots have the potential to revolutionize various industries and improve our quality of life.One of the most significant uses of robots is in manufacturing. In factories, robots are used to assemble products with precision and efficiency. They can work tirelessly for long hours without getting tired or making mistakes. This not only increases productivity but also reduces costs for companies. Moreover, robots can perform dangerous and hazardous tasks that may pose risks to human workers, ensuring their safety and well-being.In addition to manufacturing, robots are also being utilized in healthcare. Robotic surgeons are increasingly being used in operating rooms to assist human surgeons in performing complex surgeries. These robots have the ability to make precise incisions and perform delicate procedures with minimal invasiveness. This results in faster recovery times for patients and reduces the risk of complications.Furthermore, robots are being employed in the field of education. They can act as interactive tutors, helping students learn various subjects in a fun and engaging manner. These robots can adapt their teaching methods to suit individual students' needs, providing personalized instruction and feedback. Additionally, robots can assist teachers by grading assignments and providing real-time feedback, allowing them to focus on other aspects of teaching.Robots are also making their way into our homes. Domestic robots are designed to perform household chores such as cleaning, cooking, and even caring for pets. These robots can save time and effort for busy individuals,allowing them to focus on other important tasks or simply relax. Moreover, they can provide companionship to the elderly and those who live alone, reducing feelings of loneliness and isolation.Despite the numerous benefits robots offer, there are also concerns regarding their impact on employment. As robots become more advanced and capable, there is a fear that they will replace human workers, leading to unemployment. However, proponents argue that robots will create new job opportunities in fields such as robotics engineering and maintenance. Additionally, robots can complement human workers by performing repetitive and mundane tasks, allowing them to focus on more creative and complex tasks.In conclusion, robots are revolutionizing various industries and enhancing our daily lives. From manufacturing to healthcare, education, and even our homes, robots are proving to be invaluable assets. While there are concerns about their impact on employment, the potential benefits they offer cannot be ignored. As technologycontinues to advance, it is crucial to embrace and utilize robots responsibly to maximize their potential and create a better future for all.。
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
Introduction to Robotics_ch05
y
6 B
54
3
21
A
Time (sec)
0 20 30 1 14 55 2 16 69 3 21 77 4 29 81 5 40 80
x
Basics of Trajectory Planning: Cont.
Dividing the path (becomes a trajectory) into variable portions to control velocities and accelerations improves the outcome.
In this chapter we discuss the joint-space and Cartesian-space trajectory planning.
We also discuss the methods that can be used for achieving desired velocity and accelerations limits and maximum values and blending motion portions.
CHAPTER FIVE
TRAJECTORY PLANNING
© Copyrighted material.
This material may not be used except in conjunction with the “Introduction to Robotics: Analysis, Control, Applications” by Saeed B. Niku, John Wiley and Sons, 2011.
There may be a need for additional via points to ensure passage through a desired location.
Robotics
Robotics Introduction to RoboticsArtificial intelligence is the branch of computer science that deals with writing computer programs that can solve problems creatively; "workers in AI hope to imitate or duplicate intelligence in computers and robots"manipulator designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks" .•Or a simpler version•An automatic device that performs functions normally ascribed to humans or a machine in the form of a human.robotnik,meaning •First used to describe fabricated workers in a fictional 1920s play called Rossum’s Universal Robots by Czech author Karel Capek.The golems of medieval Jewish legend were robot-like servants made of clay, brought to life by a spoken•In 1495, Leonardo da Vinci drew plans for a mechanical man.•Real robots were only possible in the 1950s and 1960s with the introduction of transistors and integrated circuits., was created.was installed at a General Motors plant to work with heated die-casting machines .and science fiction stories , robots then started to appear on television shows, like Lost in Space and then in Hollywood movies.In Lost in Space the robot demonstrated human characteristics such as feelings and emotions.•Scientists today are still a long way off from programming robots which can think and act like humans.Robots in Fiction/Hollywood •Robby the Robot(1956)–the firstrobot seen at themovies• A scene fromForbidden Planet•Lost In Space (1965)•Star Warsthrough inaction, allow a human being to come A robot must obey orders given it by human beings, except where such orders would conflict with the First Law.•A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.Types of Robots–improving productivity–LaboratoryapplicationsIn 1979 a nuclear accident in the USA caused a leak of radioactive material. Led to production of special robot–teleoperator to handle the radioactive material. Examples are Robolaband modern toys which are programmed to do things like talking, walking and dancing.perform a variety of tasks by moving parts, tools oradaptive robots -no way of sensing the environment, so do the job regardless of any environmental factors-get feedback from a sensor to alter the operation of the device.•Robots can also be classified according to whether they are stationary or mobile. Mobile robots are free to move around, but stationary robots remain in 1 place but have arms that move.Robots never get sick or¾Robots can do tasksconsidered too dangerous for humans.Robots can operateequipment to much higherprecision than humans.¾May be cheaper over the long term¾May be able to perform tasks that are impossible forhumansDangerous tasks •Impossible tasks•Robots assisting the handicapped.Exploring VolcanoesUnderwater Exploration •MEDICAL SCIENCE –Surgical assistant •ASSEMBLY-factoriesThe hardest thing any robot has to do is to be able to taught how to walk.dispose of bombs. About three feet long, the Mini-Andros looks something like a small armoured tank with eight wheels on four "legs" that extend for climbing stairs.flexible enough to do justabout anything a human cando.•Here is an example of some new development on creating robots that walk.。
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.。
介绍机器人英语作文一百词
介绍机器人英语作文一百词题目，Introduction to Robots。
Robots, the marvels of modern technology, have revolutionized various aspects of human life. These mechanical beings, designed to perform tasks autonomously or under remote control, have become indispensable in industries, households, healthcare, and even outer space exploration.In today's fast-paced world, robots play a crucial role in enhancing efficiency and productivity. In manufacturing, they assemble products with precision and speed, reducing errors and costs. Moreover, robots are deployed in hazardous environments where human presence is risky, such as deep-sea exploration and nuclear power plants.In healthcare, robots assist surgeons in delicate procedures, improving accuracy and minimizing invasiveness. They also provide companionship and care for the elderlyand individuals with disabilities, enhancing their quality of life.In households, robots like vacuum cleaners and lawn mowers automate tedious chores, allowing humans to focus on more meaningful activities. Moreover, personal assistant robots can manage schedules, provide reminders, and even entertain family members.Furthermore, robots are venturing into new frontiers such as artificial intelligence and space exploration. AI-powered robots can learn from their interactions with the environment, making decisions and adapting to changing circumstances. In space exploration, robots are deployed to explore distant planets, gather data, and pave the way for human colonization of other celestial bodies.However, along with the benefits, concerns about the societal impact of robots have emerged. There are fears of job displacement as automation replaces manual labor, leading to unemployment and income inequality. Moreover, ethical questions arise regarding the use of robots inwarfare and surveillance, raising concerns about privacy and human rights violations.In conclusion, robots have transformed the way we live and work, offering tremendous benefits in efficiency, safety, and innovation. However, it is essential to address the ethical and societal implications of their widespread adoption to ensure a harmonious coexistence between humans and machines in the future.Word count: 241。
介绍robot的高考英语书面表达
介绍robot的高考英语书面表达全文共3篇示例，供读者参考篇1The Advantages of Robots in Today's SocietyIntroduction:Robots have become an integral part of our society, with their uses ranging from manufacturing to healthcare. They are designed to perform tasks that are repetitive, dangerous, or require precision. In recent years, the advancement of technology has led to the development of more sophisticated robots that are capable of performing complex tasks. In this essay, I will discuss the advantages of robots in today's society.Advantages of Robots:1. Efficiency: Robots are able to work at a faster pace and with greater accuracy than humans. This leads to increased productivity and lower costs for businesses that use them in their operations.2. Safety: Robots can be used to perform tasks that are too dangerous for humans, such as working in hazardous environments or handling toxic materials.3. Precision: Robots are capable of performing tasks with a high degree of precision, making them ideal for tasks that require accuracy, such as manufacturing and surgery.4. 24/7 operation: Robots can work around the clock without the need for breaks, holidays, or sick leave. This allows businesses to operate continuously and meet the demands of a global market.5. Cost-effective: While the initial cost of purchasing and programming a robot can be high, the long-term savings on labor costs and increased productivity make them acost-effective investment.6. Versatility: Robots can be programmed to perform a wide range of tasks, from assembling products to cleaning floors. This versatility makes them suitable for use in various industries.7. Innovation: The development of robots has led to advancements in technology and new opportunities for research and development. This has the potential to drive further innovation and create new jobs in the field of robotics.Conclusion:In conclusion, robots have many advantages in today's society, ranging from increased efficiency and safety tocost-effectiveness and innovation. As technology continues to advance, the role of robots in our lives is likely to expand, leading to a more efficient and productive society. It is important to embrace these advancements and explore the potential benefits that robots can bring to our lives.篇2Title: Introduction to RobotWith the rapid development of technology, robots have become an important part of our daily lives. In this essay, we will explore the history, types, functions, and future prospects of robots.HistoryThe concept of robots can be traced back to ancient times, with the earliest known designs dating back to ancient Greece and Rome. However, modern robotics as we know it today began to take shape in the 20th century, with the development of the industrial robot by George Devol in 1954. Since then, roboticshas made significant advancements in various fields, including manufacturing, healthcare, and space exploration.TypesThere are several types of robots based on their design and functionality. Industrial robots are used in manufacturing processes to perform repetitive tasks with precision and efficiency. Service robots, such as domestic robots and medical robots, are designed to assist humans in various tasks. Autonomous robots, like self-driving cars and drones, are capable of operating independently without human intervention.FunctionsRobots have a wide range of functions, depending on their design and programming. They can be used for tasks that are too dangerous or dull for humans to perform, such as deep-sea exploration, bomb disposal, and space missions. In the medical field, robots are used for surgery, rehabilitation, and patient care. In agriculture, robots can help with planting, harvesting, and monitoring crops.Future ProspectsThe future of robotics is promising, with advancements in artificial intelligence, machine learning, and robotics promisingto revolutionize various industries. As robots become more intelligent and versatile, they will play an increasingly important role in our society. However, there are also concerns about the impact of automation on jobs and society, as robots replace human workers in many industries.In conclusion, robots have come a long way since their inception and have the potential to transform our lives in the future. It is important to embrace this technological advancement while also addressing the challenges and ethical considerations associated with it. By working together, humans and robots can create a better and more efficient world for all.篇3Title: Introducing RobotIn recent years, robot technology has made great progress and has become more integrated into our daily lives. From industry automation to household assistance, robots play a crucial role in enhancing efficiency and convenience. In this article, we will explore the development and applications of robots.One of the main advantages of robots is their ability to perform repetitive tasks with precision and consistency. Inmanufacturing industries, robots are widely used for tasks such as assembly, welding, and packaging. By automating these processes, companies can increase productivity, reduce errors, and improve product quality.Robots are also increasingly being used in the service industry. In hospitals, robots can assist with patient care by delivering medication, transporting supplies, and even performing simple medical procedures. In restaurants, robots can take orders, serve food, and clean tables, freeing up human employees to focus on more complex tasks.In the field of education, robots are being used to enhance learning experiences for students. For example, robot teachers can provide personalized instruction, assess students' understanding, and offer feedback in real time. This allows students to learn at their own pace and receive the support they need to succeed.In the future, robots are expected to play an even larger role in our lives. With advancements in artificial intelligence and machine learning, robots are becoming smarter and more adaptable. They will be able to understand human emotions, communicate effectively, and make decisions on their own.Despite the many benefits of robots, there are also concerns about their impact on employment. As robots become more capable, there is a risk that they will replace human workers in certain industries. This raises questions about how society should adapt to the changing labor market and ensure that everyone has access to education and training programs.In conclusion, robots are a valuable tool that can enhance efficiency, improve quality of life, and create new opportunities for innovation. By understanding the potential of robots and embracing their capabilities, we can build a future where humans and robots work together to create a better world.。
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仿生技术有助于解决老龄化社会的家庭服务和医疗等问题，同时 也可有效缓解全球共同面临的器官源稀缺问题，给病患带来福音。
中南大学智能科学与技术系
Department of Intelligence Science and Technology, IST
23
Top 10 Robot News in 2013
中南大学智能科学与技术系
Department of Intelligence Science and Technology, IST
28
4 折衬衫机器人
自己动手的乐高折 叠衣服。你只需把它放 在一个平板盒子上，然 后按下开关。机器人会 翻转盒子的两翼，然后 非常完美地叠好衬衣。
中南大学智能科学与技术系
Department of Intelligence Science and Technology, IST
25
2013年世界十大超酷机器人排行榜
1 终结者服装模特
名为《为我试衣》 或《终结者服装模特》 的机器人可以为你试衣 服，展现2000种不同的 体型，顾客可以看到机 器人试不同衣服的整个 过程。
3
Robots in Imagination
中南大学智能科学与技术系
Department of Intelligence Science and Technology, IST
4
Robots in Imagination
中南大学智能科学与技术系
Department of Intelligence Science and Technology, IST
机器人学导论
Introduction to Robotics
中南大学
蔡自兴
zxcai@
2014
中南大学智能科学与技术系
Department of Intelligence Science and Technology, IST
1
Question
What do robots look like in your mind ？
10. 国内机器人领域精英大聚会
机器人浪潮在全球涌动，中国的机器人行业精英也迎来了产业 的曙光。2013年春在东莞举行的“中国工业机器人成果对接与交流 会”，第一次牵引了国内工业机器人领域官(政府)、产(产业)、学(学 术)、研(科研)、用(用户)、资(金融)大联合，在整个机器人行业内引 起轰动。
中南大学智能科学与技术系
Baxter
中南大学智能科学与技术系
Department of Intelligence Science and Technology, IST
22
Top 10 Robot News in 2013
1. 谷歌收购8家机器人公司
包括Boston Dynamics, Bot & Dolly, Autofuss, Redwood Robotics, Meka Robotics等。
3. Boston Dynamics' LS3 quadruped plays follow the leader
中南大学智能科学与技术系
Department of Intelligence Science and Technology, IST
15
4. Japan gets serious about nuclear clean-up robots
7
Robots in Reality
中南大学智能科学与技术系
Department of Intelligence Science and Technology, IST
8
Robots in Reality
中南大学智能科学与技术系
Department of Intelligence Science and Technology, IST
中南大学智能科学与技术系
Department of Intelligence Science and Technology, IST
33
9 大狗：运输军 队物资的机器人
可以在布满乱石、 泥泞的山上或有其他任 何东西的路上行车，即 使有人尽力踢它，仍然 屹立不倒。这种机器人 比人类更能保持平衡， 持续行走。它们可以负 重300多磅，在军事行 动、星球探索和一些其 他情况下很有用。
5. 机器人操作系统ROS日渐普及
ROS (Robot Operating System)是一种开源的、用于机器人的后操 作系统，或者说次级操作系统。它提供类似操作系统所提供的功能。
6. 玉兔号机器人成功登上月球
自主月球车“玉兔”号作为中国首辆月球车成功登上月球，软着 陆月球后，与嫦娥三号着陆器完成精彩互拍，留下了珍贵图像，标志 着登陆任务取得圆满成功，为下一步探月工作奠定基础。
7. 扫地机器人进入百姓家庭
2013年，扫地机器人彻底进入百姓生活，在各大商场、网上店铺 ，到处可见扫地机器人的身影。
8. 五个机器人的国家标准出台
2013年，国家标准化管理委员会批准了5个机器人相关标准，规 范了我国对机器人领域的相关专业用语、编程指令、系统安全要
求等。标准从今年开始执行。
中南大学智能科学与技术系
中南大学智能科学与技术系
Department of Intelligence Science and Technology, IST
16
5. DARPA Robotics Challenge contenders revealed
中南大学智能科学与技术系
Department of Intelligence Science and Technology, IST
11
Top 10 robots of 2012
中南大学智能科学与技术系
Department of Intelligence Science and Technology, IST
12
1. Robonaut 2 begins operations on the ISS
中南大学智能科学与技术系
Department of Intelligence Science and Technology, IST
中南大学智能科学与技术系
Department of Intelligence Science and Technology, IST
19
8. Miniature robot avatar goes with you everywhere
中南大学智能科学与技术系
Department of Intelligence Science and Technology, IST
中南大学智能科学与技术系
Department of Intelligence Science and Technology, IST
26
2 松下洗发机
洗头机器人，可
以为你洗头发。这是专 为老人和常年卧床的病 人设计的。该设备由一 个后仰的椅子和由电脑 控制的水盆组成，与机 器人的手协作，有16个 神奇的手指可以按摩、 洗头发。
5
Robots in Reality
中南大学智能科学与技术系
Department of Intelligence Science and Technology, IST
6
Robots in Reality
中南大学智能科学与技术系
Department of Intelligence Science and Technology, IST
2. 轻型双臂机器人渐成热点
智能化是未来工业机器人发展趋势，双臂机器人可以像人的两个 手臂一样，进行双臂的协调操作和精细安装，并能通过内建软件与传 感器感知环境，从而可以在厂房中与人安全地共同工作。
3. 军用仿生机器人受各国青睐
可以代替人类进入异常和危险环境执行任务，对未来作战功能和 战场环境产生重要影响。
中南大学智能科学与技术系
Department of Intelligence Science and Technology, IST
32
8 EcoBot：吃苍 蝇的机器人
它能通过吃苍蝇给 自己发电。在8个微生 物燃料电池中的一个， 它会消化这些昆虫，每 个电池都填满充满细菌 的污水泥浆。通过提取 苍蝇的糖化合物和代谢 细菌而产生能量，并被 转化成电能。
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6. RoboCup's TeenSize League gets two open-source competitors
中南大学智能科学与技术系
Department of Intelligence Science and Technology, IST
18
7. Rethink Robotics unveils inexpensive and user-friendly Baxter robot
Department of Intelligence Science and Technology, IST
Байду номын сангаас
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6 神经外科手术机 器人：第一个神经
外科机器人医生 这种
神经外科手术机器人 是卡尔加里大学研发 的，它们有感觉，这 是大脑手术的必备条 件，神经外科医生就 靠它根据大脑的柔软 度判断手术进程。
中南大学智能科学与技术系
Department of Intelligence Science and Technology, IST
31
7 魔方高手：会 玩魔方的机器人
Rubot II
是Mechatrons研制 出的玩魔方的高手， 是世上玩魔方最快的 机器人，18.2秒。它被 记入2010年吉尼斯世 界纪录玩魔方最快的 机器人。
中南大学智能科学与技术系
Department of Intelligence Science and Technology, IST