(机器人学)

ModelingandControlofRobotManipulatorsJianboSuDepartmentofAutomationEmail:[e-mail]:34204276Lecture1:IntroductionRobotics（机器人学）IndustrialRobot（工业机器人）ModelingandControlofRobotManipulators（机器人操作手的建模与控制）RoboticsHistoryofRoboticsGeneralFrameworkofRoboticsClassificationofRobotHistoryofRoboticsThewordRobotcomesfromthe1921playR.U.R.bytheCzechwriterKarelCapek(pronouncedchop'ek).RobotcomesfromtheCzechwordrobota,meaningforcedlabor.Thewordroboticsalsocomesfromsciencefiction-Runaround(1942)byIsaacAsimov.ThreeLawsofRobotics:*LawZero:Arobotmaynotinjurehumanity,or,throughinaction,allowhumanitytocometoharm.*LawOne:Arobotmaynotinjureahumanbeing,or,throughinaction,allowahumanbeingtocometoharm,unlessthiswouldviolateahigherorderlaw.*LawTwo:Arobotmustobeyordersgivenitbyhumanbeings,exceptwheresuchorderswouldconflictwithahigherorderlaw.*LawThree:Arobotmustprotectitsownexistenceaslongassuchprotectiondoesnotconflictwithahigherorderlaw.HistoryofRoboticsHistoryofRoboticsearlyrobots(1940's-50's)GreyWalter'sElsiethetortoiseShakeyStanfordResearchInstituteinthe1960s.TheGeneralElectricWalkingTruckthefirstleggedvehiclewithacomputer-brain,byRalphMoseratGeneralElectricCorp.inthe1960s.HistoryofRoboticsThefirstmodernindustrialrobotswereprobablytheUnimates,createdbyGeorgeDevolandJoeEnglebergerinthe1950'sand60's.Englebergerstartedthefirstroboticscompany,calledUnimation,andhasbeencalledthefatherofrobotics.IsaacAsimovandJoeEngleberger(imagefromRoboticsSocietyofAmericawebsite)HistoryofRoboticsHistoryofRoboticsEXPLORATIONPeopleareinterestedinplacesthataresometimesfullofdanger,likeouterspace,orthedeepocean.Butwhentheycannotgotherethemselves,theymakerobotsthatcangothere.TherobotsareabletocarrycamerasandotherinstrumentssothattheycancollectinformationandsenditbacktotheirhumanoperatorsHistoryofRoboticsINDUSTRYWhendoingajob,robotscandomanythingsfasterthanhumans.Robotsdonotneedtobepaid,eat,drink,orgotothebathroomlikepeople.Theycandorepeatativeworkthatisabsolutelyboringtopeopleandtheywillnotstop,slowdown,orfalltosleeplikeahuman.HistoryofRoboticsMEDICINESometimeswhenoperating,doctorshavetousearobotinstead.Ahumanwouldnotbeabletomakeaholeexactlyone100thofainchwideandlong.Whenmakingmedicines,robotscandothejobmuchfasterandmoreaccuratelythanahumancan.Also,arobotcanbemoredelicatethanahuman.HistoryofRoboticsMEDICINESomedoctorsandengineersarealsodevelopingprosthetic(bionic)limbsthatuseroboticmechanisms.HistoryofRoboticsMILITARYandPOLICEPoliceneedcertaintypesofrobotsforbomb-disposalandforbringingvideocamerasandmicrophonesintodangerousareas,whereahumanpolicemanmightgethurtorkilled.Themilitaryalsousesrobotsfor(1)locatinganddestroyingminesonlandandinwater,(2)enteringenemybasestogatherinformation,and(3)spyingonenemytroops.TOYSThenewrobottechnologyismakinginterestingtypesoftoysthatchildrenwillliketoplaywith.OneistheLEGOMINDSTORMSrobotconstructionkit.Thesekits,whichweredevelopedbytheLEGOcompanywithM.I.T.scientists,letkidscreateandprogramtheirownrobots.AnotherisAibo-SonyCorporation'sroboticdog.HistoryofRoboticsGeneralFrameworkofRoboticsRoboticsisthesciencestudyingtheintelligentconnectionofperceptiontoaction•Action:mechanicalsystem(locomotion&manipulation)•Perception:sensorysystem(proprioceptive&heteroceptive)•Connection:controlsystemRoboticsisaninterdisciplinarysubjectconcerningmechanics,electronics,informationtheory,automationtheory.ClassificationofRoboticsAdvancedRobotsautonomousexecutionofmissionsinunstructuredorscarcelyunstructuredenvironmentIndustrialRobot•Class1:ManualHandlingDevice•Class2:Fixed-SequenceRobot•*Class3:VariableSequenceRobot•Class4:PlaybackRobot•Class5:NumericalControlRobot•*Class6:IntelligentRobotJIRA:JapaneseIndustrialRobotAssociationRIA:TheRoboticsInstituteofAmericaClassificationofRobotics•TypeA:HandlingDeviceswithmanualcontrol•TypeB:AutomaticHandlingDeviceswithpredeterminedcycles•TypeC:Programmable,servocontrolledrobots•TypeD:TypeCwithinteractivewiththeenvironmentAFR:TheAssociationFrancaisedeRobotiqueClassificationofRoboticsIndustrialRobotAutomation&RobotDefinitionofIndustrialRobotApplicationofIndustrialRobotComponentsofIndustrialRobotRigid(orFixed)Automation•Highinitialinvestmentforcustom-engineeredequipment•Highproductionrates•RelativelyinflexibleinaccommodatingproductvarietyTypesofAutomatedManufacturingSystemsTypesofAutomatedManufacturingSystemsProgrammableAutomation•Highinvestmentingeneralpurposeequipment•Lowerproductionratesthanfixedautomation•Flexibilitytodealwithvariationsandchangesinproductconfiguration•MostsuitableforbatchproductionFlexibleAutomation•Highinvestmentforacustom-engineeredsystem•Continuousproductionofvariablemixturesofproducts•MediumProductionRates•FlexibilitytodealwithproductdesignvariationsTypesofAutomatedManufacturingSystemsAutomationApplicationHierarchicalStructureofAutomationDefinitionofanIndustrialRobotArobotisare-programmablemultifunctionalmanipulatordesignedtomovematerial,parts,tools,orspecializeddevicesthroughvariableprogrammedmotionsfortheperformanceofavarietyoftasks.RobotInstituteofAmerica(Groupwi