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1、机器人学基础 Fundamentals of Robotics,智能科学基础系列课程国家级教学团队“机器人学”课程,Fundamentals of Robotics,1,2023/3/29,2,Ch.1 Introduction第1章 绪 论,Ch.1 Introduction,Contents,Course Schedule Top 10 Robotics News of 2008 Development of Robotics Structure,Feature,and Classification of Robots Robotics and AI,3,Ch.1 Introduction
2、,The Textbooks 教材,Cai Zixing.Fundamentals of Robotics 机器人学基础.机械工业出版社，2009John J Craig.Introduction to Robotics,Mechanics and Control.Pearson Education,Inc.,Publishing,2005 机器人学导论.机械工业出版社，2005,4,Ch.1 Introduction,机器人学基础国家级“智能科学基础系列课程教学团队”机器人学课程配套教材机械工业出版社2009,5,Ch.1 Introduction,机器人学（2000）获全国高校优秀教材一等
3、奖（2002）,6,Ch.1 Introduction,机器人学二零零九,7,Ch.1 Introduction,教学进度安排（1）,8,教学进度安排（2）,9,教学进度安排（3）,10,Question,What is Robot looks like in your mind？,11,Ch.1 Introduction,Robots in Movies,12,Ch.1 Introduction,Robots in Movies,13,Ch.1 Introduction,14,Robots in Movies,Ch.1 Introduction,Contents,Course Schedul
4、e Top 10 Robotics News of 2008 Development of Robotics Structure,Feature,and Classification of Robots Robotics and AI,15,Ch.1 Introduction,16,Ch.1 Introduction,1 The U.S.Big Dog,In March 2008,the U.S.government released a video of the military robots called Big Dog,which has amazing mobility and ada
5、ptability.Latest Big Dog can climb up 35 slopes,carry more than 40 kg equipment,representing about 30%of its weightIt can move along a simple route,or by remote control.,17,Ch.1 Introduction,2 Robot ride on a wheelbarrow,In September 2008 Japanese Murata Manufacturing Institute launched a new type o
6、f robot riding on a wheelbarrow,named seiko.This new type of robot can maintain its balance through a series of sensors and gyroscopes,and easy to complete riding of a wheelbarrow.This new robot seiko is 50cm high,5kg weight,designed to look like a little girl.,18,Ch.1 Introduction,3 Washing robot l
7、aunched in Japan,This robot can help people washing dishes,especially useful for the families with elders and patients.Washing robot confirms the shape and location of the tableware through a camera installed in the ceiling roof,and sorts out all tableware with the help of sensors equipped in the pa
8、lm.,19,Ch.1 Introduction,4 Olympic robot Fuwa debut at Beijing,The Olympic robot Fuwa perform dancing at the Beijing Capital International Airport July 15,2008.Five robot Fuwa debut on Tuesday inside the newly-built Terminal 3 of the airport.The robots can provide guiding services for passengers wit
9、h language contact.,20,Ch.1 Introduction,5 Domestic underwater robots in expedition of the North Pole,In July 2008,the North Pole ARV underwater robot starting from Shenyang,participated in Chinas third Arctic scientific expedition.This is the first time for Chinas underwater robots to carry out exp
10、eriment at high latitudes.It will provide a larger content of continuous,real-time ice observation techniques.,21,Ch.1 Introduction,6 The first robot that can kill cancer cells,Scientists at the University of California have invented a new form of robot with a strong ability to kill cancer cells.The
11、 birth of cancer killer nano thrusters is not only a success of nanotechnology,but also a new platform for the development of next-generation medical nano-robots.,22,Ch.1 Introduction,7 Robot World Cup held in China for the first time,China successfully held the Robot World Cup through July 14-20,20
12、08 for the first time.,23,Ch.1 Introduction,8 Phoenix probe landing on Mars,After more than nine months of space travel,the U.S.Mars probe Phoenix successful land on Mars near the North Pole region on May 25,2008.This is the first time for a human detector to land near the north pole of Mars.,24,Ch.
13、1 Introduction,9 Robot Controlled By Rat Brain Cells,Some idiotic scientists at Reading University have developed a robot that is controlled by rat brain cells.The neurons are now being taught to steer the robot around obstacles and avoid the walls of the small pen in which it is kept.By studying wh
14、at happens to the neurons as they learn its creators hope to reveal how memories are laid down.,25,Ch.1 Introduction,10 Chinas first family service intelligent Robot,26,Tami has a relatively high intelligence,who can speak freely like human beings,it understands more than 200 English sentences,could
15、 identify the owner and objects through eyes,and to give their names.Tami is mainly used for family services,to take care of the elders,and to accompany with children.,Ch.1 Introduction,27,1.1Development of Robotics机器人学的发展,1.1.1 Origin of Robotics 机器人的由来人类长期以来的愿望：创造出一种像人一样的机器来代替人类进行各种工作；,木牛流马？,记里鼓车,
16、写字机器人,1.1 Development of Robotics,Contents,Course Schedule Top 10 Robotics News of 2008 Development of Robotics Structure,Feature,and Classification of Robots Robotics and AI,28,Ch.1 Introduction,29,1.1.1 History of Robotics,1950年，美国科学幻想小说巨匠阿西摩夫在小说我是机器人中，提出了著名的“机器人三定律(Three Laws of Robotics)”：First
17、Law:A robot may not injure a human being,or,through inaction,allow a human being to come to harm.Second Law:A robot must obey orders given it by human beings,except where such orders would conflict with the First Law.Third Law:A robot must protect its own existence as long as such protection does no
18、t conflict with the First or Second Law.,Isaac Asimov,1.1 Development of Robotics,30,1.1.1 History of Robotics,1962年，美国万能自动化公司（Unimation）的第一台机器人Unimate在美国通用汽车公司投入使用，标志着第一代机器人的诞生。,1.1 Development of Robotics,31,1.1.1 History of Robotics,1969年 日本早稻田大学加藤一郎实验室研发出第一台以双脚走路的机器人。加藤一郎长期致力于研究仿人机器人(Humanoid Ro
19、bot)，被誉为“仿人机器人之父”。日本专家一向以研发仿人机器人和娱乐机器人的技术见长，后来更进一步，催生出本田公司的ASIMO和索尼公司的QRIO。,1.1 Development of Robotics,32,1.1.1 History of Robotics,1978年，美国Unimation公司推出通用工业机器人PUMA，这标志着工业机器人技术已经完全成熟。PUMA至今仍然工作在工厂第一线。,1.1 Development of Robotics,33,1.1.1 History of Robotics,2002年 丹麦 iRobot 公司推出了吸尘器机器人Roomba，它能避开障碍，
20、自动设计行进路线，还能在电量不足时，自动驶向充电座。Roomba是目前世界上销量最大、最商业化的家用机器人。,1.1 Development of Robotics,34,1.1.1 History of Robotics,2006年 6月，微软公司推出Microsoft Robotics Studio，机器人模块化、平台统一化的趋势越来越明显，比尔盖茨预言，家用机器人很快将席卷全球。,1.1 Development of Robotics,35,1.1.2 Definition of Robotics 机器人的定义,Definition 1机器人是“貌似人的自动机，具有智力的和顺从于人的但不
21、具人格的机器”。(The Concise Oxford Dictionary,COD)Definition 2“A reprogrammable,multifunctional manipulator designed to move material,parts,tools,or specialized devices through various programmed motions for the performance of a variety of tasks”（Robotic Industries Association,RIA）,1.1 Development of Robot
22、ics,36,1.1.2 Definition of Robotics,Definition 3工业机器人是“一种装备有记忆装置和末端执行器(end effector)的，能够转动并通过自动完成各种移动来代替人类劳动的通用机器”。（Japan Industrial Robot Association,JIRA）Definition 4机器人是“一种能够进行编程并在自动控制下执行某些操作和移动作业任务的机械装置”。(National Bureau of Standards,NBS),1.1 Development of Robotics,37,1.1.2 Definition of Roboti
23、cs,Definition 5“机器人是一种自动的、位置可控的、具有编程能力的多功能机械手，这种机械手具有几个轴，能够借助于可编程序操作来处理各种材料、零件、工具和专用装置，以执行种种任务”。国际标准组织（ISO）Definition 6机器人（1）像人或人的上肢，并能模仿人的动作；（2）具有智力或感觉与识别能力；（3）是人造的机器或机械电子装置。中国,1.1 Development of Robotics,38,1.1.3 Advances in Robotics 机器人学的进展,20世纪70年代以来，机器人学的发展特点机器人偿还期(Payback period)理论促进对机器人产业的投资；
24、日本后来居上，成为“机器人王国”；机器人产业在全世界迅速发展；应用范围遍及工业、科技和国防的各个领域；形成了新学科机器人学(Robotics)；机器人向智能化(Intellectual)方向发展。,1.1 Development of Robotics,Estimated yearly shipments of industrial robots,39,1.1 Development of Robotics,Estimated yearly supply of industrial robots at year-endin Total World by main Industries 2006
25、-2007,40,1.1 Development of Robotics,Contents,Course Schedule Top 10 Robotics News of 2008 Development of Robotics Structure,Feature,and Classification of Robots Robotics and AI,41,Ch.1 Introduction,42,1.2 Features,Structure and Classification of Robots 机器人特点、结构与分类,1.2.1 Main Features of Robots通用性（V
26、ersatility）通用性指的是某种执行不同的功能和完成多样的简单任务的实际能力，它取决于其几何特性和机械能力。适应性（Adaptability）适应性是指其对环境的自适应能力，即所设计的机器 人能够自我执行未经完全指定的任务，而不管任务执 行过程中所发生的没有预计到的环境变化。,1.2 Features,Structure and Classification of Robots,43,1.2.2 Structure of A Robot System,一个机器人系统，一般由机械手、环境、任务和控制器四个互相作用的部分组成,图1.1 机器人系统的基本结构,机械手(Manipulator)具
27、有传动执行装置的机械，由臂、关节和末端执行装置（工具等）构成。,1.2 Features,Structure and Classification of Robots,44,一个机器人系统，一般由机械手、环境、任务和控制器四个互相作用的部分组成,图1.1 机器人系统的基本结构,环境(Environment)环境即指导机器人所处的周围环境。环境不仅由几何条件（可达空间）所决定，而且由环境和它所包含的每个事物的全部自然特性所决定的。,1.2.2 Structure of A Robot System,1.2 Features,Structure and Classification of Robo
28、ts,45,一个机器人系统，一般由机械手、环境、任务和控制器四个互相作用的部分组成,图1.1 机器人系统的基本结构,任务(Task)任务定义为环境的两种状态（初始状态和目标状态）之间的差别。必须用适当的程序设计语言来描述这些任务。,1.2.2 Structure of A Robot System,1.2 Features,Structure and Classification of Robots,46,一个机器人系统，一般由机械手、环境、任务和控制器四个互相作用的部分组成,图1.1 机器人系统的基本结构,控制器(Controller)机器人接收来自传感器的信号，对之进行数据处理，并按照预存
29、信息、机器人的状态及其环境情况等，产生出控制信号去驱动机器人的各个关节。控制器内存主要存有：（1）机器人动作模型（2）环境模型（3）任务程序（4）控制算法,1.2.2 Structure of A Robot System,1.2 Features,Structure and Classification of Robots,47,1.2.3 Degree of Freedom（DOF）of Robots 机器人的自由度,DOF of a Rigid Body刚体的自由度,图1.3 刚体的六个自由度,1.2 Features,Structure and Classification of Ro
30、bots,48,1.2.3 DOF of Robots,DOF of Robots机器人的自由度,图1.4 机器人自由度举例,1.2 Features,Structure and Classification of Robots,49,1.2.4 Classification of Robots,1.Classified by Geometry Structure 柱面坐标机器人(Cylindrical),图1.6 柱面坐标机器人,1.2 Features,Structure and Classification of Robots,50,1.Classified by Geometry St
31、ructure,球面坐标机器人(Spherical),图1.7 球面坐标机器人,1.2.4 Classification of Robots,1.2 Features,Structure and Classification of Robots,51,关节式球面坐标机器人(Articulated),图1.8 关节式球面机器人,1.2.4 Classification of Robots,1.Classified by Geometry Structure,1.2 Features,Structure and Classification of Robots,52,非伺服机器人（Non-serv
32、o robots）按照预先编好的程序顺序进行工作,图1.9 有限顺序机器人方块图,1.2.4 Classification of Robots,2.Classified by Control Mode,1.2 Features,Structure and Classification of Robots,53,伺服控制机器人（Servo-controlled robots）是一个反馈控制系统(Feedback control system),图1.10 伺服控制机器人方块图,1.2.4 Classification of Robots,2.Classified by Control Mode,
33、1.2 Features,Structure and Classification of Robots,54,3.Classified by Input Message of Controller,日本工业机器人协会（JIRA）分类法手动操作手定序机器人变序机器人复演式机器人程控机器人智能机器人,美国机器人协会（RIA）分类法把JIRA分类法中的后四种当作机器人。,1.2.4 Classification of Robots,1.2 Features,Structure and Classification of Robots,55,法国工业机器人协会（French Association o
34、f Industrial Robotics,AFRI）分类法A型：手控或遥控加工设备。B型：具有预编工作周期的自动加工设备。C型：程序可编和伺服机器人，具有点位或连续路径轨迹，称为第一代机器人。D型：能获取一定的环境数据，称为第二代机器人。,3.Classified by Input Message of Controller,1.2.4 Classification of Robots,1.2 Features,Structure and Classification of Robots,56,1.2.4 Classification of Robots,4.Classified by In
35、tellectual Level一般机器人，不具有智能，只具有一般编程能力和操作功能。智能机器人(Intellectual Robot)，具有不同程度的智能传感型机器人(Sensory Robot)交互型机器人(Interactive Robot)自立型机器人(Autonomous Robot),1.2 Features,Structure and Classification of Robots,57,1.2.4 Classification of Robots,5.Classified by Application工业机器人或产业机器人(Industry Robot),1.2 Featur
36、es,Structure and Classification of Robots,58,1.2.4 Classification of Robots,5.Classified by Application工业机器人或产业机器人(Industry Robot)探索机器人(Exploration Robot),1.2 Features,Structure and Classification of Robots,59,1.2.4 Classification of Robots,5.Classified by Application工业机器人或产业机器人(Industry Robot)探索机器人
37、(Exploration Robot)服务机器人(Service Robot),1.2 Features,Structure and Classification of Robots,60,1.2.4 Classification of Robots,5.Classified by Application工业机器人或产业机器人(Industry Robot)探索机器人(Exploration Robot)服务机器人(Service Robot)军事机器人(Military Robot),1.2 Features,Structure and Classification of Robots,1.
38、2 Features,Structure and Classification of Robots,5.Classified by Application工业机器人或产业机器人(Industry Robot)探索机器人(Exploration Robot)服务机器人(Service Robot)军事机器人(Military Robot),61,1.2.4 Classification of Robots,1.2 机器人特点、结构与分类,62,1.2.4 Classification of Robots,6.Classified by Mobility固定式机器人(Fixed Robot)移动机
39、器人(Mobile Robot),轮式Wheeled robot,履带式Pedrail robot,足式Foot robot,1.2 Features,Structure and Classification of Robots,Contents,Course Schedule Top 10 Robotics News of 2008 Development of Robotics Structure,Feature,and Classification of Robots Robotics and AI,63,Ch.1 Introduction,64,1.3 Robotics and AI
40、机器人学与人工智能,Relationship Between Robotics and AI 机器人学的进一步发展需要人工智能基本原理的指导，并采用各种人工智能技术；机器人学的出现与发展为人工智能的发展产生了新的推动力，并提供一个很好的试验与应用场所。AI Research Topics in RoboticsSensor Information ProcessingRobot PlanningExpert SystemNatural Language Understanding,1.3 Robotics and AI,65,1.3.2 Research Fields of Robotics,
41、Sensor and Sensory SystemDrive,Modeling,and ControlAutomatic Planning Robot-used Computer SystemApplication Research,1.3 Robotics and AI,66,1.3.3 Intelligent Robots 智能机器人,智能机器人的控制系统主要组成:以知识为基础的知识决策系统和信号识别与处理系统。,图1.11 一种智能机器人系统典型方框图,1.3 Robotics and AI,67,1.Main Academic Circles in AI符号主义（Symbolicism
42、）认为人工智能源于数理逻辑(Symbolic logic)；其原理主要为物理符号系统（即符号操作系统）假设和有限合理性原理；代表人物有纽厄尔（Newell）、肖(Shaw)、西蒙(Simon)和尼尔逊（Nilsson）等；代表成果为专家系统(Expert System)。,1.3.4 Debate of AI and Its Influence to Robotics,1.3 Robotics and AI,68,1.Main Academic Circles in AI,连接主义（Connectionism）认为人工智能源于仿生学(Bionics)，特别是人脑模型的研究；其原理主要为神经网络
43、(Neural Network)及神经网络间的连接机制与学习算法；代表人物有Hopfield、鲁梅尔哈特（Rumelhart）等。行为主义（Actionism）认为人工智能源于控制论(Cybernetics)；其原理为控制理论(Control Theory)及感知动作型控制系统；代表人物有布鲁克斯（Brooks）。,1.3 Robotics and AI,69,1.3.4 Debate of AI and Its Influence to Robotics,2.Debate on AI Theory 符号主义（Symbolicism）人的认知基元是符号，而且认知过程即符号操作过程人是一个物理符
44、号系统，计算机也是一个物理符号系统，因此，我们就能够用计算机来模拟人的智能行为，即用计算机的符号操作来模拟人的认知过程。人工智能的核心问题是知识表示、知识推理和知识运用。,1.3 Robotics and AI,70,2.Debate on AI Theory,连接主义（Connectionism）人的思维基元是神经元；它对物理符号系统假设持反对意见，认为人脑不同于电脑，并提出连接主义的大脑工作模式。行为主义（Actionism）智能取决于感知和行动，提出智能行为的“感知动作”模式；智能不需要知识、不需要表示、不需要推理；人工智能可以象人类智能一样逐步进化智能行为只能在现实世界中与周围环境交互
45、作用而表现出来。,1.3 Robotics and AI,71,3.Debate of AI and Its Influence to Robotics这些争论在机器人学上有所反映；在机器人学上，人工智能各派思想能够“和睦共处”，不存在排他性，甚至可在一个机器人系统上同时共存几个学派的思想。,1.3.4 Debate of AI and Its Influence to Robotics,1.3 Robotics and AI,72,1.Introduction to Robotics:the origin and development of Robotics;definition of a
46、 robot;feature,structure,and classification of robots;relationship between Robotics and AI.2.Mathematical Foundations:Representation of position and attitude;coordinate transformation;homogeneous transformation;general rotation transformation.3.Kinematics of Manipulator:Representation of Kinetic Equ
47、ation;Solving method of Kinetic Equation;Motion Analysis of PUMA 560.,1.4 Main Contents of the Course,1.4 Main Contents of the Course,73,1.4 Main Contents of the Course,4.Manipulator Dynamics:Dynamics of a Rigid Body;Dynamic Equation of a Manipulator.5.Robot Control:Basic Principles of Robot Control
48、;Position Control;Hybrid Position/Force Control;Intelligent Control.6.Robot Sensors:Internal Sensors;External Sensors;Considerations in Robot Sensor Application.7.Trajectory Planning:General Considerations on Trajectory Planning;Interpolated Calculation of Joint Trajectory;Planning of Cartesian Path
49、 Trajectories;Real-Time Generation of Trajectory.,1.4 Main Contents of the Course,74,1.4 Main Contents of the Course,8.Robot Programming:Requirements and Language Types to Robot Programming;Structure and Basic Functions of Robot Language;Commonly-Used Language for Robot Programming;Off-Line Programm
50、ing of Robots.9.Robot Applications:Factors Considered in Applying Industrial Robots;Application Areas of Robots;Application Examples of Industrial Robots.10.Prospect to Robotics:Robot Technology and its Market;Developing Trends of Robot Technology in the 21st Century;Social Problems Caused by Applyi
