Upload
vuongdiep
View
228
Download
0
Embed Size (px)
Citation preview
ROBOT Ver 1.0
, ROBOT , . ISO , JIS , KS , ROBOT , " " .
2() Binarization 1 0 2 .
3 Three-dimensionalsensing
3 .
3D 3D vision () ().
AND-OR AND-OR graph , () , AND OR .
CP Continuous pathcontrol
.
, , ,
ROBOT
DH Denavit-Hartenberg model
, , , 4 Denavit-Hartenberg () .
GPSGlobalpositioningsystem
.
PTP Pose-to-posecontrol
.
RCC Remote centercompliance device
, (RCC) . "RCC", () .
() ()
Motion space () ( ) (). (), .
Guard
, . . , , , , , , , .
()
Manipulabilitymeasure
().
() Indirect teaching .
Sensory control .
Sensorycontrolled robot
.
() Information ofemotion and humansensibility
, .
1 / 26
ROBOT Ver 1.0
,
Reduced speedcontrol,Slow speedcontrol
(), , 250mm/s ( , Reduced speed) .
() Stiffness , ().
Gantry robot(Arm) , . "(Gantry)",() .
Distancerepeatability
.
,
Distance sensor,Range finder
1 , .
Distance accuracy (6) .
Gait diagram (), , .
() Gait , () . Path . Path acceleration .
Path planning , , .
Pathrepeatability
.
Path generation . Path generation . Path velocity .
Path velocityrepeatability
.
Path velocityfluctuation
() () .
Path velocityaccuracy
.
Path guide method
, () . () , () , () .
Path accuracy , .
Path optimization .
Path learning .
Path point . Via point .
Fixed sequencemanipulator
() , (Physicalalteration) , .
Insect type robot 6 () , .
Spatial filter() (Slit) .
Joint space () ( ) .
Leg with rotaryjoint,Articulated leg
, .
2 / 26
ROBOT Ver 1.0
Anthropomorphicrobot,Articulated robot
(Arm) , 3 .
() Teaching, (Task) .
()
Teach programming
.a) .b) .c) .
() Teacher .
() Spherical joint1 3 . " (Ball joint)" .
(),()
Drive wheel,Driving wheel
, .() Driving wheel Drive power ().
Constraint space () , .
()
Fine motionplanning
() .
() Multiple robots .
Trajectoryplanning
.
Trajectorygeneration
.
Trajectorycontrol
.
Trajectoryoperated robot
, 3 . , .
Trajectorylearning
.
() Trajectory .
Gross motionplanning
(Gross motion) .
,()
Gripper
."(Hand)" . "(, Grasp)" , "(Hold)" , .
3 / 26
ROBOT Ver 1.0
Polar robot,Spherical robot
(Arm) , 2 1 , .
/
Proximity sense/Proximity sensor
, ./ .
Functional model , (Application) .
Functional safety , .
Basicconfiguration
, .
Geometricconstraint
, () .
()Geometricreasoning
, .
() Geometric model .
()
Internalmeasuringfunction
.
()
Internalmeasurementsensor
.
Navigation , () , .
()
Ground reaction,Ground reactionforce
.
,
Noise reduction () .
Intensityhistogram
() .
Neural network() , .
() Articulatedstructure
, (Arm) (Wrist) . , " " .
() Leg mechanism , .
() Leg phase , () .
() Leg , () () () .
()
Legged robot () .
4 / 26
ROBOT Ver 1.0
Multipurpose (Physical alteration) (Application) .
Multi-directionalpose accuracyvariation
3 .
Single point ofcontrol
() (Source) , .
() Step , .
() Individual jointacceleration,Axis acceleration
.
() Individual jointvelocity,Axis velocity
.
Object levellanguage
.
Object coordinatesystem
.
, ()
Dead reckoning, , (Gyro), , .
Database
. ,
Database. , () .
() Synchronousoperation
.
Animal type robot (), , , .
() Dynamic walking , () .
Simultaneousmotion
2 ., () . () . , .
Dynamic model, () , , .
Motion levellanguage
.
Motionprogramming
, .
() Duty factor , , () .
Drift , / , .
() Hill climbingability,Gradability
, (Tangent) . .
Digital filter () .
5 / 26
ROBOT Ver 1.0
Line sensor () .
Landmark , () .
Robotics , .
Robot sensor () () .
,
Robot system,Industrial robotsystem
, .- - - ,
Robot language .
Robot controlsystem
( ) ." (Robot controller)" .
Body coordinatesystem
. +x, +y, +z .
Robot controlcode
.
Intermediate code .
Local control .
, ()
Localization . () .
/ Lockout/Tagout
"" "" . / , .
6 / 26
ROBOT Ver 1.0
Roll (x) .
Rule-basedplanning
() .
Redundant control , .
Risk () .
Link , .
Master-slavemanipulator
() () .
Master-slavecontrol
, .
Micro robotsystem
(cm) .
Friction cone2 () , , .
,MDI
Manual data inputprogramming,MDI
, .
Mapping,Map building,Map generation
, () .
Map generation .
Manipulator
, (, ) . , , (PLC), (Cam) () (Relay) .
Multi-modalinterface
, , , , , .
Multi-sensorsystem
, () , .
Multi-agent robotsystem
, , .
Maintenance robot ()
Mechanochemicalmaterial
() , .
Mechanicalinterface
() .
Mechanicalinterfacecoordinate system
.
Meta rule , .
, ()
Metal hydride ()() .
Model-basedplanning
.
Motion capture , , 3 .
7 / 26
ROBOT Ver 1.0
()
Unconstrainedmonitoring
.
()
Noninvasivemonitoring
(Catheter) .
Problem solving , () .
Physical model , , () , () .
Object model .
Objectunderstanding
, , .
Objectrecognition
() , .
()/
Sense of taste/Taste sensor
./ , .
()/
Slip sense/Slip sensor
./ .
()
Differentialoperator
() , () (Template).
Bilateral servo
,
Bilateral servosystem
.
() Foot , () () .
()
Protectivemeasure
.
Protective device .
()Backwardreasoning
, () .
Virtualreality(VR)
(). ().
Base , .
Base mountingsurface
.
Base coordinatesystem
.
()Step length,Leg stroke
, () .
Walking robot . Walking period , 1 .() Walking , () .
Protective stop , () .
Rehabilitationrobot
.
Intrinsic safedesigning
, .
Body center .
Additional mass (, (Arm)) .
()Rough terrain,Uneven terrain
, () .
8 / 26
ROBOT Ver 1.0
Load
() , , () () . . , .
/
Distributedtactile sense/Distributedtactile sensor
./ .
()
Non-verbalcommunication
, , .
()
Non-holonomicconstraint
.
Emergency stop , .
Non-contactsensing
, .
Non-contactsensor
, , , () , .
Behavior-basedrobot
, , .
Bin-picking (), .
Person () .
User , () .
Cycle 1. Cycle time .() Diagonal travel , .
Industrial robot
, , 3 , , . , . - ( ) - () , ( ) , . 1962, Unimation , , 1970 , 1980 .
9 / 26
ROBOT Ver 1.0
Distribution ofindustrial robots
*** ( : ) *** 2008 End 2005 End 355,562 370,481 (, , ) 168,489 139,984 144,803 126,294 76,923 61,576 63,051 56,198 34,370 30,236 31,787 11,557 28,636 24,141 23,644 15,464 15,133 14,948 1,035,674 922,838
Triangulation 2 1, .
State space .
Shaft mechanicalinterface
(, ) .
Servo rate . Servo error (Controlled variable) .
Servo control , Servo control .
, ()
Servo system,Servo mechanism
, (Controlled variable) , (Feedback control system). "(Servo)" .
Subsumptionarchitecture
.
Service robot . Turning radius , . Center of turning , .() Turning .
Installation , .
Sensor glove ().
Sensor network .
Sensor model , .
Sensor suit , .
Sensor-guidedmethod
, , .
Sensor fusion/Sensor datafusion
() , .
Sensorintegration
() , () .
Sensor fusion , () ().
,
Sensor planning , .
10 / 26
ROBOT Ver 1.0
Sensor-basedcontrol
." (Sensor control)" .
Sensing , .
Software servosystem
.
Wrist referencepoint
2 . , .
,2
Wrist,Secondary axes
() , (Arm) .
Solid model
, , () . B-rep(Boundary representation), CSG(Constructive solid geometry), Octree .
Manual mode , . , .
()
Passivecompliance
, () .
Numericallycontrolled robot,NC robot
, (), .
()
Forwardkinematics
, .) kinematics .
Threshold , .
Swept volume .
SCARA robot
(Arm) , , . "SCARA" Selective Compliance Assembly Robot Arm .
Skill , , , () .
Stereo vision() () , 3 .
Stride , 1 .
Structured light , () () () .
,()
Steering () .
Spine robot(Arm), 2 3 () .
Spot sensing() () (), () 3 .
Spin turn .
Slit sensing () (), ()3 .
Visualinformationprocessing
() .
Visual feedback .
Visual feedbackcontrol
.
11 / 26
ROBOT Ver 1.0
/
Vision sense,Visual sense/Vision sensor,Visual sensor
./ .
Commissioning , , . "(Start-up)" .
Sequence robot , , .
Sequence control,Sequentialcontrol
, .
Test load .
Reliability, , .
Attained pose .
Safeguarding, ().
()
Safeguarded space (). () () .
Safeguard ().
Safeguard().
Reduced speed , () , .
Safe workingprocedure
() .
Safetyconfirmationsystem
.
Safety () , .
()/
Contact forcesense/Contact forcesensor
, () ./ .
,
Robot actuator , ().
,()
Active vision() , .
,()
Active suspension , , , (Damping) () .
,()
Active sensing , .
,
Amusement robot,Entertainmentrobot
.
Languageunderstanding
.
Verbalcommunication
.
Face robot, , , .
12 / 26
ROBOT Ver 1.0
Facial expressionrecognition
.
Alignment pose .
() Energy source, , , , , (), , , ().
Area sensor 2 () .
Agent () .
Edge detection() .
Expert system () , .
End-effector (, , , , , ). .
End-effectorcoupling device
() () .
Automatic end-effector exchangesystem
, .
()
Tool coordinatesystem
.
() Force display () , , (), . , (), .
()/
Force sense/Force sensor
./ . , 3 , 3 6 . " ", "6 " .
()
Inversekinematics
, .
,
Space 3 .
Overrun , () .
,()
Overshoot , , .
Object-orientedprogramming
.
Operator , .
Off-lineprogrammablerobot
. , .
Off-lineprogramming
, .
Vehicle length,Overall length
, .
Vehicle width,Overall width
, .
Vehicle height,Overall height
, .
Omni-directionalvision
.
Omni-directionaltravel
, .
13 / 26
ROBOT Ver 1.0
Omni-directionalmobile mechanism
, ().
Optical flow 3 , .
Wireframe model, (, Edge) (, ) .
()
Externalmeasuringfunction
, .
()
Externalmeasurementsensor
, .
Yaw (z) .
() Personnel .
Motion planning , . Motion estimation , , . Operating mode .
(), ()
Operationalspace,Operating space
() , , ().
Working memory , () .
() Remote teaching , , (Arm), (Hand) .(Arm), (Hand) .
Tele-operation .
Teleoperatedrobot
.
Cylindricaljoint,Distributed joint
.
Cylindrical robot
(Arm) , 1 1 , .
World model .
World coordinatesystem
() .
Position servosystem
(Controlled variable) .
Positionrecognition
.
Hazard () . " " "" .
Hazardous motion () .
14 / 26
ROBOT Ver 1.0
()Swing leg,Transfer leg
, .
Guidance control .() Guidance .
Ubiquitous robot , () .
Genetic algorithm, , , , .
Speechrecognition
.
Speech synthesis . Medical robot .
Enabling device , .
() Mobile mechanism , .
Mobile robot . () .
Moving obstacle , .() Passage plane ().
Ionic conductingpolymer gelfilm(ICPF),Ionic polymermetal
() () . , () () .
metalcomposite(IPMC)
Human-symbioticrobot
.
Human behaviorunderstanding
, .
Human-robotcommunication
() () .
Humanoid robot . Artificial life () .
Artificialintelligence
, , , . , (), , ,, .
Processing forrecognition
.
Interlock
, , ., , , .
Interface
2 (Boundary) , , , , ., .
Impedance , (), () () .
15 / 26
ROBOT Ver 1.0
Impedance control
( ) . (Manipulated variable) () .
(),
Stance leg,Supporting leg
, .
Self-preservation () . .
()
Magneto-rheologicalfluid(MRF)
() () () , () .
Self-organizingrobot
.
Automatic mode .
Self-sustainedmobile robot,Self-containedmobile robot
.
Attitude control .
Free space () . ()
()Degree offreedom,DOF
() ( 6). "(Axis)" , "" .
Autonomousdistributed robotsystem
, .
Autonomousdistributedcontrol
, .
Autonomouslocomotion
, .
Autonomous mobilerobot
.
()
Operating range .
,
Task planning , , .
() Task teaching () .
Task levellanguages
.
Recognition oftask condition
, .
16 / 26
ROBOT Ver 1.0
()Work space,Working space
(), () ().
()
Center of theworking space
(Arm) () .
Taskunderstanding
, .
Task coordinatesystem
(Task) .
Goal-directedprogramming
, , .
Task learning (), , .
Obstacle , .
Obstacleavoidance
() , (, , ) .
Reprogrammable (Physical alteration) , .
Disaster responserobot
, () .
Adaptive robot , , .
Adaptive control , .
Adaptive controlrobot
.
()
Electro-rheologicalfluid(ERF)
() () () , () .
() Overturningmoment
.
() Front-wheel drive , . Forward travel , .
17 / 26
ROBOT Ver 1.0
Pre-processing , , , , () .
Occupied space ( ) , .
Ground contactarea
, , , () .
(), ()
Ground contactpressure
, , , () .
Contact-safety () , .
()/
Touch sense/Touch sensor
./ .
Contact sensor , , , () .
Contact sensing .
Rated load
, . , .
() Static walk , () .
,Normal operatingstate,
. ,
state,Automaticoperation
.
Normal operatingconditions
(, ) ( , ).
()
Emotionalinterface
() (, ) .
()
Static compliance .
,
Stopping accuracy , ().
Stationaryobstacle
, .
Stop-point 0, 0 , .
()
Brake mechanism .
,ZMP
ZMP,Zero moment point
() , 0 .
Gesturerecognition
, .
Control program
, . , .
Limiting load , () .
18 / 26
ROBOT Ver 1.0
() Restricted space
() , (Limitingdevice) (). .
Limiting device / () , .
Gentle motion .
Assembly taskplanning
, .
Joystick , , .
Joint2 .
Joint coordinatesystem
. .
Operationsimulator
() .
() Steering control .() Steering angle ().(),()
Steering wheel , .
()
Protectiveequipment of
, () .
equipment ofpresence-sensing
() .
()
Presence sensingdevice
. , , () , , () .
(),(),()
Idler wheel,Follower,Trailing wheel,Idling wheel,Idler
, .
Coordinatetransformation
, .
19 / 26
ROBOT Ver 1.0
Coordinate system
X, Y Z 3 .(Tool) () .
()
View pointcontrol
() , , , .
Travellingaccuracy
, ().
()Travelling,Propelling,Traction
, (Wheel) (Crawler) .
Intelligent robot .
Command pose,Programmed pose
.
Knowledge base() .
() Support polygon () , .
Rectangularrobot,Cartesian robot
(Arm) , 3 , .
20 / 26
ROBOT Ver 1.0
()Leg withprismatic joint
, .
() Direct teaching (Arm), (Hand) .
() Prismatic joint,Sliding joint
.
() Pendular robot
(Arm) , () .
()
Wheeled mobilerobot
() .
(() Emergence
() () .
/
Acoustic sense,Hearing sense/Acoustic sensor,Hearing sensor
() () ./ . .
Ultrasonic sensor , , , .
Tactile display () () (), .
Tactile imagesensing
() , , () .
Tactile display , , (), .
Tactile feedback () .
Tactile feedbackcontrol
.
/
Tactile sense/Tactile sensor
./ .
() All-wheel drive , . Total mass .
Minimum posingtime
, (6) ( ).
Maximum momentload
() (() ).
21 / 26
ROBOT Ver 1.0
Maximum thrustload
() (()).
Maximum safetyangle
.
() Maximum space() (), () .
Maximum payload,Loading capacity
.
Resolution ( ). "()" .
Follow-upcontrol,Tracking control
.
() Axis (). "() " .
Collision-safety () , .
Collisionavoidance
() , .
() Friendliness, , , , .
Camera coordinatesystem
.
Configurationspace
(, Unique) .
,
Configuration . , (Arm) , () .
Compliancecontrol
. (Manipulated variable) .
,
Compliance
(), .() . , () . "() ", "() " .
Cornering force () .
Tracked mobilerobot,Crawler mobilerobot
() .
,
Crawler,Track
, () () (Shoe) , () (Sprocket wheel) ()." (Continuous track)" .
Search space . Task model (Task) .
22 / 26
ROBOT Ver 1.0
Task programming .
Task program
() . , . "(Application)", , "(Task)", , .
Teleoperator , . , .
Tele-existence
, , , .
Tele-presence"" . () .
Template matching (, /) . Torque sensor 3 . , ,TCP
Tool centerpoint,TCP
. TCP () .
() Traverse , .() Traverse , .
Tracking vision() .
Troubleshooting , .
()Singular point,Singularity
, () . 2 , .
Featureextraction
() .
() Grasp planning , , .
Power assistsystem,Power assistancesystem
, (), .
,,1
Arm,Primary axes
, .
Parallel robot .
Pattern matching2 , .
Patternclassification
, .
Patternrecognition
.
Fuzzy rule () .
23 / 26
ROBOT Ver 1.0
Potential fieldmethod
(), .
Performance . . Peg-in-hole task .
Failsafe , .
,()
Pendant,Teach pendant
, , , .
() Forward reasoning , () .
Pose (6).
(Uni-directional)Poserepeatability
, (Dispersion).
Drift of (uni-directional) poserepeatability
.
Posestabilizationtime
() , () .
Pose overshoot () () .
(Uni-directional)Pose accuracy
, (Bias).Pose accuracy (Bias).
Drift of (uni-directional) poseaccuracy
. , .
Fault tolerance () .
,
Surface model, .
Standard robotlanguage
.
Standard cycle 1.
Fool-proof , , .
Frame () . .
Programmer . ()
Programverification
.
Program path (TCP) .
Production rule .
Production system , () .
Fly-by point ( ) .
Planning .
Flange mechanicalinterface
.
24 / 26
ROBOT Ver 1.0
Playback robot() , .
,()
Playback , .
Feedback (Output) (Input) , .
,
Feedback control,Closed-loopcontrol
(Controlled variable) (Desiredvalue) , (Manipulatedvariable) .
Pivot turn,Pivoting
, () ().
Pitch (y) .
Filter , .
Physicalalteration
, , ROM .
Hybrid control , .
Weightdistribution
, , , () .
Learning control , /, . .
Learningcontrolled robot
.
Hand-eye system
, () . , .
Haptic interface,Haptic devices
. .
()Allowable stepheight
.
() Allowable gapwidth
.
Head-mounteddisplay(HMD)
() .
() ,
Suspension , .
Collaborativeoperation
, () .
Collaborativework space
() , .
Coordinatedmotion
, (TCP) (, ) .
Coordinatedmotion planning
.
Cooperation,Cooperativeworking
, .
25 / 26
ROBOT Ver 1.0
Coordinationcontrol,Cooperativecontrol
, .
Shape memoryalloy
. , .
Hold-to-runcontrol
, .
Holonomicconstraint
.
Home robot,Domestic robot
.
() Image coding .() ,
Image sensor 1 2 () .
() Image recognition .
() Image processing(), , , .
(),
Pixel , () () , .
()Environmentteaching
.
Environment model , () . Environment model , () .
Environmentunderstanding
.
Environmentrecognition
.
() Environment map , .
Environmentalsound recognition
, () .
,()
Rotary joint,Revolute joint
.
() Conversationrecognition
, .
()/
Sense of smell/Smell sensor
./ , .
() Rear-wheel drive , . Reverse travel , .
Heuristics , () , .
Human interface . .
Human-robotinterface
( ).
Human-machineinterface
.
Teaching byshowing
, .
Force servosystem
(Controlled variable) .
Force sensor 3 .
Force feedback () .
26 / 26