機器人學(xué)導(dǎo)論（課堂PPT）

1、1Huashan FengHuashan FengSchool of Mechanical Engineering, NPU.Shaanxi Engineering & Technology Research Center of Special Digital Manufacturing Equipment.Introduction to robotics 2ReferencesnS. K. SAHA.nIntroduction to Robotics.nChina Machine Press3ReferencesnJohn J. Craign贠超 等譯nIntroduction to Rob

2、otics Mechanics and Control.n機械工業(yè)出版社4nIntroductionnRobot ComponentsnKinematicsnDynamicsnControlnMotion PlanningnSimulationOutline5nIntroductionnRobot ComponentsnKinematicsnDynamicsnControlnMotion PlanningnSimulationOutline6nHistorynDefinitionnRoboticsnTypes of RobotsIntroduction7History8HistoryThe i

3、dea of robot goes back to ancient time of over 3000 years ago in the world.The Western Zhou Dynasty, our countrys skilled craftsman Yan (偃師偃師)developed the actor who could sing and dance well, this was the robot which our country recorded most early.9HistoryThe idea of robot goes back to ancient tim

4、e of china.The Spring and Autumn Period, our country had a renowned carpenter Lu Ban（魯班）（魯班）. He was also an inventor in the mechanical aspect, according to “Mo Jing”（墨經(jīng)墨經(jīng)） records. Once he had made a wooden bird that could in the aerial flight “on three days”, which manifest working peoples intelli

5、gent wisdom in our country. 10HistoryThe 1800 years ago, Han Dynasty, great scientist Zhang Heng has not only invented the seismograph（地動儀）（地動儀） but also the count drum vehicle（計里鼓車）（計里鼓車）. On the vehicle, the wooden figurine beats a drum each mile and strikes a clock every ten miles. 張張衡衡計里鼓車計里鼓車Th

6、e idea of robot goes back to ancient time of china.11HistoryEastern 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.諸葛亮諸葛亮木牛流馬木牛流馬The i

7、dea of robot goes back to ancient time of china.12HistoryThe idea of robot goes back to ancient time in the world.The 2nd century B.C., the ancient Greece person in Alexander times has invented the most primitive robot “ automaton”. By the power of the water, the air and the steam pressure, the stat

8、ue（雕像）（雕像） can move and even open the door as well as sing.The 1738 year, French talent technician Jake Wore Wack has invented a machine duck. It can quack calls, swim and drink water, even eat food and drains. The original intention of Wack is to perform the biological function with the mechanizati

9、on to carry on the medicine analysis. 13HistoryThe idea of robot goes back to ancient time in the world.Leonardo da Vinci created many human-inspired, robot-like sketches, designs, and models in the 1500s.Leonardo Humanoid Robot with Internal Mechanisms14HistoryJaquet-Droz Automata (雅克雅克-德羅機械人偶德羅機械人

10、偶),1774The Writer作家作家,The Draughtsman畫家和畫家和The Musician音樂家音樂家15HistoryThe Writer isthe most complex one of the three toys. 70cm高蘸墨水寫字眨眼點頭書寫3行40個字符（40個齒盤）瑞士納沙泰爾美術(shù)與歷史博物館收藏16Science Fiction Play Rossums Universal Robots (RUR)The word “robot” was introduced to the public by Czech writer Karel Capek in h

11、is play R.U.R. (Rossums Universal Robots), published in 1920. The play begins in a factory that makes artificial people called robots . Capek was reportedly several times a candidate for the Nobel prize for his works .The Czech Writer Karel CapekKarel Capek（1890189019381938）19201920RUR robotThe word

12、 “Robot”comes from the word “Robota”, meaning, in Czech, forced labour, drudgery.History捷克作家捷克作家17Science Fiction I，RobotUSA Writer Isaac AsimovIsaac Asimov (1920 1992) (1920 1992)19501950The word “roboticsrobotics”, used to describe this field of study, was coined accidentally by the Russian born ,

13、 American scientist and science fiction writer, Isaac Asimov in 1940s.Asimov also proposed his three “Laws of Robotics”.History18nLaw Zero:A robot may not injure a human being, or, through inaction, allow a human being to come to harm.nLaw One:A robot must obey orders given it by human beings, excep

14、t where such orders would conflict with a higher order law. nLaw Two: A robot must protect its own existence as long as such protection does not conflict with a higher order law.nLaw Three:A robot may take a human beings job but it may not leave that person jobless.LAWS OF ROBOTICS later added a “fo

15、urth law”.191954195419611961USA inventor George C. Devol (L) andGeorge C. Devol (L) andJoseph F. Engleberger(R)Joseph F. Engleberger(R) HistoryThe first industrial robots were Unimate developed by George Devol and Joe Engelberger in the late 50s and early 60s.2019621962American Machine and Foundry,

16、later known as AMF Corporation, markets a first cylindrical robot, called the “Versatran”. The PUMA (Programmable Universal Machine for Assembly) robot is developed by Unimation with a General Motors design support.19781978History19731973The Stanford arm performed small-parts assembly using feedback

17、 from touch and pressure sensors. It had marketed a version of the arm for industrial applications. The new arm was controlled by a minicomputer.21The variable sequence robot Teaching and playback robotNumerical control robotFirst GenerationHistory試題試題22Touch sensorsPressure sensorsVision sensorsSon

18、ar systemphotoelectric cell 19651965，BeastBeast+HistorySecond GenerationSensorsRobot23Third GenerationShakey was the first mobile robot with Robot vision and demonstrated at the Stanford Research Institute. 19681968First biped robot WL-3 designed by Professor Ichiro Kato of Waseda University, JAPAN.

19、19691969Understanding the environment and “thinking”.History24認知智能認知智能 Cognitive Intelligence計算智能計算智能 Computing Intelligence感知智能感知智能 Sensing Intelligence機器人技術(shù)不斷突破機器人技術(shù)不斷突破25What is a Robot?VS26What is a Robot?機器人機器人機器人技術(shù)關(guān)注的是與機器人技術(shù)關(guān)注的是與人進行合作的自主或半人進行合作的自主或半自主傳感與執(zhí)行系統(tǒng)。自主傳感與執(zhí)行系統(tǒng)。機器人技術(shù)研究強調(diào)的機器人技術(shù)研究強調(diào)的是能夠使系

20、統(tǒng)面對非結(jié)是能夠使系統(tǒng)面對非結(jié)構(gòu)化環(huán)境的智能與適應(yīng)構(gòu)化環(huán)境的智能與適應(yīng)能力。能力。自動化設(shè)備自動化設(shè)備自動化技術(shù)強調(diào)的是效自動化技術(shù)強調(diào)的是效率、生產(chǎn)率、質(zhì)量以及率、生產(chǎn)率、質(zhì)量以及可靠性。自動化技術(shù)著可靠性。自動化技術(shù)著眼于在一個結(jié)構(gòu)化的環(huán)眼于在一個結(jié)構(gòu)化的環(huán)境中系統(tǒng)長時間的運行境中系統(tǒng)長時間的運行以及上述結(jié)構(gòu)化環(huán)境的以及上述結(jié)構(gòu)化環(huán)境的建構(gòu)。建構(gòu)。美國電子與電氣研究所（美國電子與電氣研究所（R&A協(xié)會）協(xié)會）27A re-programmable, multifunctional, A re-programmable, multifunctional, automatic industri

21、al machine designed to automatic industrial machine designed to replace human in hazardous work.replace human in hazardous work. Robots are also used for the following tasks Dirty Tasks Repetitive tasks Dangerous tasks Impossible tasks Robots assisting the handicapped Can operate equipments at much

22、higher precision than humans. Cheaper on a long term basis.What is a Robot?28DefinitionA reprogrammable, multifunctional manipulator designed to move material, parts, tools or specialized devices through various programmed motions for the performance of a variety of Tasks. International Standard of

23、Organization.28There exist several other difinitions too, given by other societies, e.g. RIA, JIRA, BRA, and so on.試題試題Traditional Robot29nVersatility(Versatility(通用性通用性)-)-An ability for performing different functions and different workDepends on the structural characteristics and bearing capacity

24、The more general degree of freedom, the versatility is strong. nAdaptivityAdaptivity（適應(yīng)性）（適應(yīng)性）- - An adjustment ability for the variational environmentSensing and measurement of environmental change Task analysis and planning Fast instruction execution DefinitionAll definitions have two points in co

25、mmon.試題試題30Robotics is science of designing or building an application of robots. Simply ,Robotics may be defines as “The Study of Robots”. The aim of robotics is to design an efficient robot. WHAT IS ROBOTICS.?Robotics is an interdisciplinary area and a comprehensive knowledge of three disciplines.

26、 Motion subsystemMechanical engineeringRecognition subsystemComputer science Control subsystemElectrical engineeringDisciplines: mathematics, physics, biology, mechanical engineering, electrical engineering, computer engineering, and computer science.31Knowledgebase for RoboticsnKinematics Kinematic

27、s 運動學(xué)運動學(xué)nDynamics Dynamics 動力學(xué)動力學(xué)nMechanisms and Actuation Mechanisms and Actuation 機構(gòu)與執(zhí)行器機構(gòu)與執(zhí)行器nSensing and Estimation Sensing and Estimation 感知與估計感知與估計nMotion Planning Motion Planning 運動規(guī)劃運動規(guī)劃nMotion Control Motion Control 運動控制運動控制nForce Control Force Control 力控制力控制nRobotic Systems Architectures a

28、nd Programming Robotic Systems Architectures and Programming 機器人系統(tǒng)的體系結(jié)構(gòu)與編程機器人系統(tǒng)的體系結(jié)構(gòu)與編程nAI Reasoning Methods for Robotics AI Reasoning Methods for Robotics 機器人人工智能推理方法機器人人工智能推理方法32Robotics TerminologyRobot - That is mechanical device that performs human tasks, either automatically or by remote contr

29、ol. Robotics - Study and application of robot technology. Telerobotics - operated remotelyRolling robots - Robots have wheels to move around. They can quickly and easily search. However they are only useful in flat areas.Walking robots - Robots on legs are usually brought in when the terrain is rock

30、y. Most robots have at least 2 legs; usually they have 4 or more.Autonomous robots Robots are self supporting or in other words self contained. In a way they rely on their own “brains”.Mobile Robots - Robots that move around on legs, tracks or wheels.Industrial Robots -an automatically manipulator p

31、rogrammable in three or more axes.33Types of RobotsRobots are broadly classified asnIndustrial robotWeldingPaintingAssemblyMachine tool loading and unloading （碼垛）（碼垛）Machining （加工）（加工）Inspection （檢測）（檢測）nSpecial purpose robotSurveillance （勘察）（勘察）AgricultureNursing purposes （護理）（護理）Medical surgery（手術(shù)

32、）（手術(shù)）Military （國防軍事）（國防軍事）Security （公共安全）（公共安全）Machine-tools to underseaSpace explorations試題試題34Types of RobotsnIndustrial robotRobotic manipulator (arm) End-effectorAutomatic Guided Vehicles (AGVs)nNational defense and public safety robotAerospace、Undersea、Terrain robotRescue robotnPeoples liveliho

33、od science and technology robotEducational, Entertainment and Domestic robotEmotional robot and Robotic petMedical rehabilitation robot （醫(yī)療康復(fù)）（醫(yī)療康復(fù)）35Types of RobotsnIndustrial robotRobotic manipulator (arm)End-effector Automatic Guided Vehicles (AGVs)nNational defense and public safety robotAerospa

34、ce、Undersea、Terrain robotRescue robotnPeoples livelihood science and technology robotEducational, Entertainment and Domestic robotEmotional robot and Robotic petMedical rehabilitation robot36Welding robotsPainting robotsDesigned to work in tireless and dangerous environmentsIndustrial robot37Assembl

35、y robots High Repetitive positioning accuracy High Load capacity High movement of efficiencyIndustrial robot38Cartesian robot for loading and unloadingSerial robotsTranslatory type joint (prismatic joint,Piston-cylinder joint )ManipulatorsIndustrial robot試題試題39Translatory type jointRotary type joint

36、(revolute joint,Hinge joint)Serial robotsManipulatorsIndustrial robot40Translatory type jointRotary type jointSerial robotsManipulatorsIndustrial robot416DOF robotsRotary type jointSerial robotsManipulatorsIndustrial robot42Serial robotsTranslatory type jointRotary type jointManipulatorsIndustrial r

37、obot43SCARA robotsSerial robotsTranslatory type jointRotary type jointManipulatorsIndustrial robot44ManipulatorsParallel robotsCustomization manipulatorSpecial manipulatorIndustrial robot試題試題4545Robot with optics and servo Industrial robot4646Dual arm or Multi arm coordination Industrial robot4747EM

38、G- or EEG- controlRemote-controlIndustrial robot48 Fixed base Float baseExpanding the area of work and flexible abilityMobile manipulatorIndustrial robot49工業(yè)機械臂的主要技術(shù)參數(shù)nDegree of freedom(DOF)自由度nAccuracy精度Positioning accuracy定位精度Repeat position accuracy重復(fù)定位精度nWorkspace工作范圍nMax speed of operation最大工作速

39、度nLoading capacity承載能力試題試題50當(dāng)前工業(yè)機械臂面臨的問題n提高移動工業(yè)機器人的定位精度定位精度提高視覺感知視覺感知能力（vision）n提高機械臂的載重比載重比（Load to weight ratio）結(jié)構(gòu)輕量化（Light-weight design ）采用液壓驅(qū)動（Hydraulic drive）n提高工業(yè)機器人人-機協(xié)作的安全性安全性提高運動控制的實時性實時性提高運動力感知力感知能力（Force）缺少感知系統(tǒng)缺少感知系統(tǒng) Lack of perception缺乏靈巧性（靈巧操作）缺乏靈巧性（靈巧操作）Lack of flexibility (dexterous

40、work)結(jié)構(gòu)化工作環(huán)境結(jié)構(gòu)化工作環(huán)境Structure working environment固定工作流程固定工作流程Fix working procedure51機械臂類型機械臂類型自由度自由度最大工作最大工作范圍范圍(mm)重量重量(kg)載荷載荷(kg)載重比載重比重復(fù)重復(fù)精度精度(mm)末端速度末端速度(m/s)柔柔順順性性Barret71000250NoKR Agilus 6 R700 67065060.120.032.00NoLWA Powerball670012.560.480.06NoLWA PA10793035100.2860.101.55NoSIA

41、5F 75593050.1670.06NoVS-6577G-B68543670.1940.038.20NoLBR iiwa 7R800780022.370.3140.10YesUR5685018.450.2720.101.00YesDLR LWRIII7936147(14)0.5(1)0.5NoATLAS7167573250(500)3.425(6.849)NoKUKA KR 700 PA4332028507000.2460.08NoFANUCM-900iB/7006283228007000.250.3NoFANUC LR Mate 200iD67172570.280.02No52close

42、to the approximately 1:1 ratio of human arms at a tip velocity of 6 m/s DLR LWR III53Schilling Robotics ATLAS 7R Manipulator54Structure topology optimization 55Structure topology optimization Mesh of Structural Problem for Primary ArmOptimization for Primary ArmResult of Optimizat ion for Primary Ar

43、m56Structure topology optimization Mesh of Structural Problem for Primary Arm RibsResult of Optimizat ion for Primary Arm RibsStructural Problem Definit ion for Primary Arm Ribs57Structure topology optimization Final Shape of Primary Arm58Structure topology optimization Result of Optimization for Se

44、condary ArmOptimizat ion for Secondary ArmMesh Secondary ArmStructural Problem Definition for Secondary Arm59Structure topology optimization Final Shape of Secondary Arm60Types of RobotsnIndustrial robotRobotic manipulator (arm)End-effector Automatic Guided Vehicles (AGVs)nNational defense and publi

45、c safety robotAerospace、Undersea、Terrain robotRescue robotnPeoples livelihood science and technology robotEducational, Entertainment and Domestic robotEmotional robot and Robotic petMedical rehabilitation robot61End-effectorIndustrial robotEnd-effectorIndustrial robotIn robotics, an end-effector is

46、the device at the end of a robotic arm, designed to interact with the environment.End-effectors may consist of a gripper or a tool. The gripper can be of two fingers, three fingers or even five fingers.試題試題62End-effectorIndustrial robotEnd-effectorIndustrial robotMechanical handAngle gripperMechanic

47、al hand63End-effectorIndustrial robotEnd-effectorIndustrial robotMechanical handMechanical handAngle-parallel gripper64End-effectorIndustrial robotEnd-effectorIndustrial robotMechanical handMechanical handParallel gripper65End-effectorIndustrial robotEnd-effectorIndustrial robot66End-effectorEnd-eff

48、ectorIndustrial robotMechanical handMechanical hand6768End-effectorIndustrial robotEnd-effectorIndustrial robot69End-effectorIndustrial robotEnd-effectorIndustrial robot70End-effectorEnd-effectorIndustrial robot71End-effectorIndustrial robotEnd-effectorIndustrial robotSpecialised toolsDebarring tool

49、 Grinding wheelGas-cutting torchWelding electrodePaint brushInflatable toolElectromagnetic adsorption toolVacuum grip 試題試題72Loading and unloading with various bulgy, floppy, dispersive, rough-and-tumble materialsIndustrial robot73Loading and unloading with various bulgy, floppy, dispersive, rough-an

50、d-tumble materialsEnd-effector747576Tool ChangersThe Robotic Tool Changers increase flexibility and productivity. It provides the flexibility to automatically change end-effectors or other peripheral tooling. These tool changers are designed to function reliably for millions of cycles at rated load

51、while maintaining extremely high repeatability.End-effectorIndustrial robotEnd-effectorIndustrial robot77Tool ChangersEnd-effectorIndustrial robotEnd-effectorIndustrial robotAn end-effector with two mating parts, a Master-side and a Tool-side that have been designed to lock or couple together automa

52、tically, carry a payload, and have the ability to pass utilities such as electrical signals, pneumatic, water, etc. Most robot couplers use pneumatics to lock the Master- and Tool-sides together. The Robot Tool Changer provides the flexibility for any automated process to change tools and pass vario

53、us utilities. The Master-side of the Tool Changer mounts to a robot, CNC machine, or other structure. The Tool-side of the Tool Changer mounts to tooling, such as grippers, welders, or deburring tools. A Robot Tool Changer is also known as a Quick-Change device (QC), an automatic tool changer (ATC),

54、 robot tool changer, robot coupler, robotic coupler, or robotic connector. What is a Robotic Tool Changer?7879Attachment Quick CouplerEnd-effectorIndustrial robotEnd-effectorIndustrial robot80Attachment Quick CouplerEnd-effectorEnd-effectorIndustrial robot81Attachment Quick CouplerEnd-effectorIndust

55、rial robotEnd-effector82Types of RobotsnIndustrial robotRobotic manipulator (arm) End-effectorAutomatic Guided Vehicles (AGVs)nNational defense and public safety robotAerospace、Undersea、Terrain robotRescue robotnPeoples livelihood science and technology robotEducational, Entertainment and Domestic r

56、obotEmotional robot and Robotic petMedical rehabilitation robot83AGVs for material handlingIndustrial robotWire-guided AGVsAutonomous AGVsOmnidirectional AGVsMecanum wheel2DOF3DOF84AGVsIndustrial robot85AGVsMulti-AGVs cooperation Industrial robot86AGVsIndustrial robotMulti-AGVs cooperation 87Omnidir

57、ectional mobile manipulators88Industrial robotOmnidirectional mobile manipulators89Industrial robotWhat is the next generation industrial robot ?試題試題90DefinitionThe next generation of robots will work closely with human operators: allowing new ability for factory workers, healthcare providers, soldi

58、ers, surgeons and astronauts to carry out key hard-to-do tasks.試題試題New Generation Robots機器人兩大機器人兩大屬性屬性Two properties of robot機器屬性機器屬性machine property人的屬性人的屬性Human property傳統(tǒng)機器人傳統(tǒng)機器人Traditional robots新一代機器人新一代機器人New generation of robots“機器機器”向向“人人”轉(zhuǎn)轉(zhuǎn)變的轉(zhuǎn)折點變的轉(zhuǎn)折點Turning point from robot to human“軟軟”時代到來

59、時代到來Soft time coming91試題試題New Generation Robots人機無法高效交流人機無法高效交流 Man and machine can not communicate effectively缺乏本質(zhì)安全性缺乏本質(zhì)安全性 Lack of intrinsic safety在線感知能力遠低于人在線感知能力遠低于人 Online perception ability is far lower than people無法接受抽象命令無法接受抽象命令 Unable to receive abstract command操作靈活性無法與人配合操作靈活性無法與人配合 Opera

60、tion flexibility can not match up people人機無法人機無法共融作業(yè)共融作業(yè)Human and machine can not work in communion 92試題試題復(fù)雜環(huán)境技術(shù)復(fù)雜環(huán)境技術(shù)Technology in complex environment共融作業(yè)技術(shù)共融作業(yè)技術(shù)Communion work technology任務(wù)與決策技術(shù)任務(wù)與決策技術(shù)Task and decisiontechnology交互技術(shù)交互技術(shù)Interactive ability決策能力決策能力Decision makingability交互能力交互能力Intera