【机器人系列】Smart Home Technologies课件.pptVIP

Smart Home Technologies Automation and Robotics Motivation Intelligent Environments are aimed at improving the inhabitants’ experience and task performance Automate functions in the home Provide services to the inhabitants Decisions coming from the decision maker(s) in the environment have to be executed. Decisions require actions to be performed on devices Decisions are frequently not elementary device interactions but rather relatively complex commands Decisions define set points or results that have to be achieved Decisions can require entire tasks to be performed Automation and Robotics in Intelligent Environments Control of the physical environment Automated blinds Thermostats and heating ducts Automatic doors Automatic room partitioning Personal service robots House cleaning Lawn mowing Assistance to the elderly and handicapped Office assistants Security services Robots Robota (Czech) = A worker of forced labor From Czech playwright Karel Capeks 1921 play “R.U.R” (“Rossums Universal Robots”) Japanese Industrial Robot Association (JIRA) : “A device with degrees of freedom that can be controlled.” Class 1 : Manual handling device Class 2 : Fixed sequence robot Class 3 : Variable sequence robot Class 4 : Playback robot Class 5 : Numerical control robot Class 6 : Intelligent robot A Brief History of Robotics Mechanical Automata Ancient Greece Egypt Water powered for ceremonies 14th – 19th century Europe Clockwork driven for entertainment Motor driven Robots 1928: First motor driven automata 1961: Unimate First industrial robot 1967: Shakey Autonomous mobile research robot 1969: Stanford Arm Dextrous, electric motor driven robot arm Robots Robots Autonomous Robots The control of autonomous robots involves a number of subtasks Understanding and modeling of the mechanism Kinematics, Dynamics, and Odometry Reliable control of the actuators Closed-loop control Generation of task-specific motions Path planning Integration of sensors Selection and interfacing of vario