机器人学导论分析解析

The robot type of our course: industrial robots (robotic arms, manipulators)
According to designs of the first three joints:
(Manipulator structure: Positioning structure + orienting structure or wrist)
1.1 BACKGROUND
Yearly installations of multipurpose industrial robots for 1995-2000 and forecasts for 2001-2004
Robot prices compared with human labor costs in the 1990s
教材 ： • John J. Craig. Introduction to Robotics: Mechanics and Control (3rd ed). Pearson Prentice Hall. 2005. 参考资料： • [美]Saeed B.Niku著, 孙福春等译. 机器人学导论——分析、系统及应用 (第2版) (原书: Introduction to Robotics: Analysis, Systems, Applications). 电子工业出版社. 2013. • 蔡自兴, 谢斌. 机器人学(第3版). 清华大学出版社. 2015. • 谭民, 徐德等. 先进机器人控制. 高等教育出版社. 2007. • 比较知名的刊登机器人方面研究成果的期刊：《Advanced Robotics》， 《Autonomous Robots》, 《Journal of Robotic System》，《机器人》， 《自动化学报》，《机器人技术与应用》，《控制理论与应用》。 • MATLAB的Robotics工具箱(by Peter I. Corke)： http://petercorke.com/Robotics_Toolbox.html 上课形式（全日制硕士-全英；在职工硕-双语）： 讲授20学时、实验12学时。 考核（全日制硕士-全英；在职工硕-双语）： 仿真作业，实验报告，课程论文（综述）。
Forward kinematics of manipulators (Chapter 3) Kinematics is the science of motion that treats motion without regard to the forces which cause it. e.g. position, velocity, acceleration and all higher order derivatives of the position variables.
Structure of a manipulator parts: nearly rigid links connection: by joints (rotary or revolute joints, sliding or prismatic joints) joint variables: • joint angles (revolute joints) • joint offset (prismatic joints)
Description of position and orientation (Chapter 2) In order to describe the position and orientation of a body in space, we will always attach a coordinate system, or frame, rigidly to the object. We then proceed to describe the position and orientation of this frame with respect to some reference coordinate system. Any frame can serve as a reference system, so we often think of transforming or changing this description from one frame to another.
accord to application fields:
Service robots Industrial robots Underwater robots Military robots
robots
Specialized robots
Agricultural robots
Robotized machine Humanoid robots Entertainment robots Aerospace robots Micro robots Medical robots
Attached to the end-effector
Attached to the base
Degree Of Freedom (DOF): In many scientific fields, the degrees of freedom of a system is the number of parameters of the system that may vary independently. (from Wikipedia) For example: • A point in the plane has two DOF for translation: its two coordinates. • A rigid body on the plane has three DOF: its two coordinates and its orientation. • A rigid body in space has six DOF: three translation and three revolution.
Categories of robot:
According to actuator types: •Electrical actuators •Hydraulic actuators •Pneumatic actuators •Others: piezo actuators, shape memory alloy (SMA), magnetostrictive actuators According to intelligence levels: •Normal robots: only programmable •Intelligent robots: some kind of artificial intelligence According to moveability： •Fixed robots: the base is fixed, while the joints are moveable •Mobile robots: wheel, pedrail, legged (single, double, four, six, eight)
Cartesian Spherical
Cylindrical
Articulated
SCARA
Topics： • Lectures: Description of position and orientation (Chapter 2) Forward kinematics of manipulators (Chapter 3) Inverse kinematics of manipulators (Chapter 4) Velocities, static forces, singularities (Chapter 5) Dynamics (Chapter 6) Trajectory generation (Chapter 7) Manipulator design and sensors (Chapter 8) Linear position control (Chapter 9) Nonlinear position control (Chapter 10) • Experiments: Programming robots and Off-line programming and simulation (Chapter 12 & 13)
Summary: There is no consensus on which machines qualify as robots but there is general agreement among experts, and the public, that robots tend to do some or all of the following: accept electronic programming, process data or physical perceptions electronically, operate autonomously to some degree, move around, operate physical parts of itself or physical processes, sense and manipulate their environment, and exhibit intelligent behavior — especially behavior which mimics humans or other animals. (from Wikipedia)
Forward kinematics of manipulators: Given a set of joint variables, to compute the position and orientation of the tool frame relative to the base frame. in other words, to change the representation of manipulator position from a joint space description into a Cartesian space description.
Chapter 1 Introduction
What does a robot look like in your mind？
A rudiment of manipulator
Definitions of robots: Definition 1: A robot is a mechanical or virtual artificial agent, usually an electromechanical machine that is guided by a computer program or electronic circuitry. (from Wikipedia) Definition 2: An automatically controlled, reprogrammable, multipurpose manipulator, which may be either fixed in place or mobile for use in industrial automation applications. (from International Organization for Standardization (ISO) ) Definition 3: A reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices thro百度文库gh various programmed motions for the performance of a variety of tasks. (from Robot Institute of America (RIA))