机器人学导论

HuashanFengSchoolofMechanicalEngineering,NPU.ShaanxiEngineering&TechnologyResearchCenterofSpecialDigitalManufacturingEquipment.IntroductiontoroboticsReferencesS.K.SAHA.IntroductiontoRobotics.ChinaMachinePressReferencesJohnJ.Craig贠超等译IntroductiontoRoboticsMechanicsandControl.机械工业出版社IntroductionRobotComponentsKinematicsDynamicsControlMotionPlanningSimulationOutlineIntroductionRobotComponentsKinematicsDynamicsControlMotionPlanningSimulationOutlineHistoryDefinitionRoboticsTypesofRobotsIntroductionHistoryHistoryTheideaofrobotgoesbacktoancienttimeofover3000yearsagointheworld.TheWesternZhouDynasty,ourcountry‘sskilledcraftsmanYan(偃师)developedtheactorwhocouldsinganddancewell,thiswastherobotwhichourcountryrecordedmostearly.HistoryTheideaofrobotgoesbacktoancienttimeofchina.TheSpringandAutumnPeriod,ourcountryhadarenownedcarpenterLuBan（鲁班）.Hewasalsoaninventorinthemechanicalaspect,accordingto“MoJing”（《墨经》）records.Oncehehadmadeawoodenbirdthatcouldintheaerialflight“onthreedays”,whichmanifestworkingpeople'sintelligentwisdominourcountry.HistoryThe1800year‘sago,HanDynasty,greatscientistZhangHenghasnotonlyinventedtheseismograph（地动仪）butalsothecountdrumvehicle（计里鼓车）.Onthevehicle,thewoodenfigurinebeatsadrumeachmileandstrikesaclockeverytenmiles.张衡计里鼓车Theideaofrobotgoesbacktoancienttimeofchina.HistoryEasternHanDynastyThreeKingdomera,ShuPrimeMinisterZhugeLiangcreatedaancienttransportvehiclecalled“woodencattleandwalkinghorse”successfully,andshippedthemilitaryprovisionstothewarfrontwithit.诸葛亮木牛流马Theideaofrobotgoesbacktoancienttimeofchina.HistoryTheideaofrobotgoesbacktoancienttimeintheworld.The2ndcenturyB.C.,theancientGreecepersoninAlexandertime‘shasinventedthemostprimitiverobot“automaton”.Bythepowerofthewater,theairandthesteampressure,thestatue（雕像）canmoveandevenopenthedooraswellassing.The1738year,FrenchtalenttechnicianJake·Wore·Wackhasinventedamachineduck.Itcanquackcalls,swimanddrinkwater,eveneatfoodanddrains.TheoriginalintentionofWackistoperformthebiologicalfunctionwiththemechanizationtocarryonthemedicineanalysis.HistoryTheideaofrobotgoesbacktoancienttimeintheworld.LeonardodaVincicreatedmanyhuman-inspired,robot-likesketches,designs,andmodelsinthe1500’s.LeonardoHumanoidRobotwithInternalMechanismsHistoryJaquet-DrozAutomata(雅克-德罗机械人偶),1774TheWriter「作家」,TheDraughtsma​​n「画家」和TheMusician「音乐家」HistoryTheWriteristhemostcomplexoneofthethreetoys.70cm高蘸墨水写字眨眼点头书写3行40个字符（40个齿盘）瑞士纳沙泰尔美术与历史博物馆收藏ScienceFictionPlayRossum’sUniversalRobots(RUR)Theword“robot”wasintroducedtothepublicbyCzechwriterKarelCapekinhisplayR.U.R.(Rossum'sUniversalRobots),publishedin1920.Theplaybeginsinafactorythatmakesartificialpeoplecalledrobots.CapekwasreportedlyseveraltimesacandidatefortheNobelprizeforhisworks.TheCzechWriterKarelCapek（1890－1938）1920RURrobotTheword“Robot”comesfromtheword“Robota”,meaning,inCzech,forcedlabour,drudgery.History捷克作家ScienceFiction《I，Robot》USAWriterIsaacAsimov(1920–1992)1950Theword“robotics”,usedtodescribethisfieldofstudy,wascoinedaccidentallybytheRussian–born,Americanscientistandsciencefictionwriter,IsaacAsimovin1940s.Asimovalsoproposedhisthree“LawsofRobotics”.HistoryLawZero:Arobotmaynotinjureahumanbeing,or,throughinaction,allowahumanbeingtocometoharm.LawOne:Arobotmustobeyordersgivenitbyhumanbeings,exceptwheresuchorderswouldconflictwithahigherorderlaw.LawTwo:Arobotmustprotectitsownexistenceaslongassuchprotectiondoesnotconflictwithahigherorderlaw.LawThree:Arobotmaytakeahumanbeing’sjobbutitmaynotleavethatpersonjobless.LAWSOFROBOTICSlateraddeda“fourthlaw”.1954－1961USAinventorGeorgeC.Devol(L)andJosephF.Engleberger(R)HistoryThefirstindustrialrobotswereUnimatedevelopedbyGeorgeDevolandJoeEngelbergerinthelate50’sandearly60’s.1962AmericanMachineandFoundry,laterknownasAMFCorporation,marketsafirstcylindricalrobot,calledthe“Versatran”.ThePUMA(ProgrammableUniversalMachineforAssembly)robotisdevelopedbyUnimationwithaGeneralMotorsdesignsupport.1978History1973TheStanfordarmperformedsmall-partsassemblyusingfeedbackfromtouchandpressuresensors.Ithadmarketedaversionofthearmforindustrialapplications.Thenewarmwascontrolledbyaminicomputer.ThevariablesequencerobotTeachingandplaybackrobotNumericalcontrolrobotFirstGenerationHistory试题TouchsensorsPressuresensorsVisionsensorsSonarsystemphotoelectriccell……1965，Beast+HistorySecondGenerationSensorsRobotThirdGenerationShakeywasthefirstmobilerobotwithRobotvisionanddemonstratedattheStanfordResearchInstitute.1968FirstbipedrobotWL-3designedbyProfessorIchiroKatoofWasedaUniversity,JAPAN.1969Understandingtheenvironmentand“thinking”.History认知智能CognitiveIntelligence计算智能ComputingIntelligence感知智能SensingIntelligence机器人技术不断突破WhatisaRobot…?VSWhatisaRobot…?机器人机器人技术关注的是与人进行合作的自主或半自主传感与执行系统。机器人技术研究强调的是能够使系统面对非结构化环境的智能与适应能力。自动化设备自动化技术强调的是效率、生产率、质量以及可靠性。自动化技术着眼于在一个结构化的环境中系统长时间的运行以及上述结构化环境的建构。——美国电子与电气研究所（R&A协会）Are-programmable,multifunctional,automaticindustrialmachinedesignedtoreplacehumaninhazardouswork.Robotsarealsousedforthefollowingtasks•DirtyTasks•Repetitivetasks•Dangeroustasks•Impossibletasks•Robotsassistingthehandic