Robot Term

  • Published on
    27-Nov-2014

  • View
    154

  • Download
    2

Embed Size (px)

Transcript

ROBOT

Ver 1.0

ROBOT , ROBOT , . ISO , JIS , KS , ROBOT , " " .

2() 3 3D 1 0 2 . Three-dimensional 3 sensing . () ( 3D vision ). Binarization

AND-OR CP DH AND-OR graph Continuous path control DenavitHartenberg model Global positioning system Pose-to-pose control , () , AND OR . . , , , 4 Denavit-Hartenberg ( ) . .

GPS PTP

RCC

. , Remote center (RCC) . compliance device "RCC", () .

() () () ( ) (). (), . , . . Guard , , , , , , , . Manipulability measure (). Indirect teaching . Sensory control . Sensory . controlled robot Information of , emotion and human . sensibility Motion space

( ) () ()

1 / 26

ROBOT , ()

Ver 1.0

Reduced speed control, Slow speed control Stiffness Gantry robot Distance repeatability Distance sensor, Range finder Distance accuracy Gait diagram Gait Path Path acceleration Path planning Path repeatability Path generation Path velocity Path velocity repeatability Path velocity fluctuation Path velocity accuracy Path guide method

, ()

Path accuracy Path optimization Path learning Path point Via point Fixed sequence manipulator

(), , 250 mm/s ( , Reduced speed) . , (). (Arm) , . "(Gantry)",() . . 1 , . (6) . (), , . , () . . . , , . . . . . () () . . , () . () , () , () . , . . . . . () , (Physical alteration) , .

Insect type robot 6 () , . Spatial filter Joint space Leg with rotary joint, Articulated leg () (Slit) . () ( ) . , .

2 / 26

ROBOT

Ver 1.0

(Arm) , 3 .

Anthropomorphic robot, Articulated robot

, (Task) . . () a) . Teach programming b) . c) . () Teacher . 1 3 () Spherical joint . " (Ball joint)" . (), Drive wheel, , . () Driving wheel Drive power (). () , Constraint space . () Fine motion () . planning () Multiple robots . Trajectory . planning Trajectory . generation Trajectory . control , 3 Trajectory . operated robot , . Trajectory . learning () Trajectory . Gross motion planning (Gross motion) . . "(Hand)" . , "(, Grasp)" Gripper () , "(Hold)" , . () Teaching

3 / 26

ROBOT

Ver 1.0

(Arm) , 2 1 , .

Polar robot, Spherical robot

/ () ()

, ./ . Functional model , (Application) . , Functional safety . Basic , configuration . Geometric , () . constraint Geometric , reasoning . Geometric model . Proximity sense/ Proximity sensor

() () ( ) , Internal measuring function Internal measurement sensor Navigation Ground reaction, Ground reaction force Noise reduction Intensity histogram Neural network .

. , () , . . () . () . () , .

Articulated () structure () Leg mechanism () Leg phase () () Leg Legged robot , (Arm) (Wrist) . , " " . , . , () . , () () () . () .

4 / 26

ROBOT

Ver 1.0

Multipurpose

(Physical alteration) (Application) .

()

Multi-directional 3 pose accuracy . variation () (Source) Single point of , control . Step , . .

Individual joint () acceleration, Axis acceleration Individual joint () velocity, Axis velocity Object level language Object coordinate system , ( Dead reckoning ) Database Synchronous operation Animal type robot Dynamic walking

. . . , , (Gyro), , . . , () . . (), , , . , () . 2 . , () . () . , . , () , , . . , . , , () . , / , . , (Tangent) . . () .

() ()

Simultaneous motion

() ()

Dynamic model Motion level language Motion programming Duty factor Drift Hill climbing ability, Gradability Digital filter

5 / 26

ROBOT

Ver 1.0

Line sensor Landmark Robotics Robot sensor

() . , () . , . () () . , . - - - ,

,

Robot system, Industrial robot system

Robot language Robot control system Body coordinate system

, ( )

. ( ) . " (Robot controller)" . . +x, +y, +z .

Robot control . code Intermediate code . Local control . Localization . () . "" "" . / , . 6 / 26

/ Lockout/Tagout

ROBOT

Ver 1.0

Roll Rule-based planning

(x) . () . Redundant control , . Risk () . , Link .

, MDI Master-slave manipulator Master-slave control Micro robot system Friction cone Manual data input programming, MDI Mapping, Map building, Map generation () () . , . (cm) . 2 () , , . , . , () .

, (, ) . , , Manipulator (PLC), (Cam) () (Relay) . , , , Multi-modal , , interface . Multi-sensor , () system , . Multi-agent robot , , system . Maintenance robot () Mechanochemical () , material . Mechanical () . interface Mechanical . interface coordinate system , Meta rule . ()() , Metal hydride . () Model-based . planning , , Motion capture 3 .

7 / 26

ROBOT

Ver 1.0

() () ()/ ()/

Unconstrained monitoring Noninvasive monitoring Problem solving Physical model Object model Object understanding Object recognition Sense of taste/ Taste sensor Slip sense/ Slip sensor

. (Catheter) . , () . , , ( ) , () . . , , . () , . ./ , . ./ . () , () (Template).

() Differential operator

, . , () Foot () () . ( Protective ) measure . Protective device . Backward , () reasoning () . Virtual reality(VR) (). (). Base , . Base mounting . surface Base coordinate . system Step length, () , () . Leg stroke Walking robot . Walking period , 1 . () Walking , () . , ( Protective stop ) . Rehabilitation . robot Intrinsic safe , . designing Body center . (, (Arm)) Additional mass . Rough terrain, () , () . Uneven terrain Bilateral servo system

8 / 26

ROBOT

Ver 1.0

Load

() , , () () . . , . ./ . , , . . , . , . , , , () , . , , . (), .

Distributed tactile sense/ Distributed tactile sensor () Non-verbal communication () Non-holonomic constraint / Emergency stop Non-contact sensing Non-contact sensor Behavior-based robot Bin-picking

() Person User Cycle Cycle time Diagonal travel () . , () . 1. . , . , , 3 , , . , . - ( ) - () , ( ) , . 1962, Unimation , , 1970 , 1980 .

Industrial robot

9 / 26

ROBOT

Ver 1.0

Distribution of industrial 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

2 1, Triangulation . State space . Shaft mechanical (, ) interface . Servo rate . Servo error (Controlled variable) . , Servo control . , (Controlled variable) , Servo system, , () Servo mechanism (Feedback control system). "(Servo)" . Subsumption architecture . Service robot . Turning radius , . Center of turning , . () Turning . , Installation . Sensor glove (). Sensor network . Sensor model , . Sensor suit , . Sensor-guided , , method . Sensor fusion/ () , Sensor data . fusion Sensor () , integration () . Sensor fusion , () (). , , Sensor planning .

10 / 26

ROBOT

Ver 1.0

Sensor-based control Sensing Software servo system Wrist reference point

. " (Sensor control)" . , . .

2 . , . , Wrist, () , (Arm) 2 Secondary axes . , , () . Solid model B-rep(Boundary representation), CSG(Constructive solid geometry), Octree . , Manual mode . , . () Passive , compliance () . Numerically , controlled robot, (), NC robot . ( Forward , ) kinematics . , Threshold . Swept volume . (Arm) , , . SCARA robot "SCARA" Selective Compliance Assembly Robot Arm . , Skill