机器人学导论分析解析.pptVIP

教材 ： John J. Craig. Introduction to Robotics: Mechanics and Control (3rd ed). Pearson Prentice Hall. 2005. 参考资料： [美]Saeed B.Niku著, 孙福春等译. 机器人学导论——分析、系统及应用(第2版) (原书: Introduction to Robotics: Analysis, Systems, Applications). 电子工业出版社. 2013. 蔡自兴, 谢斌. 机器人学(第3版). 清华大学出版社. 2015. 谭民, 徐德等. 先进机器人控制. 高等教育出版社. 2007. 比较知名的刊登机器人方面研究成果的期刊：《Advanced Robotics》，《Autonomous Robots》, 《Journal of Robotic System》，《机器人》，《自动化学报》，《机器人技术与应用》，《控制理论与应用》。 MATLAB的Robotics工具箱(by Peter I. Corke)：/Robotics_Toolbox.html 上课形式（全日制硕士-全英；在职工硕-双语）： 讲授20学时、实验12学时。 考核（全日制硕士-全英；在职工硕-双语）： 仿真作业，实验报告，课程论文（综述）。 Chapter 1 Introduction A rudiment of manipulator What does a robot look like in your mind？ Definitions of robots: Definition 1: A?robot?is a mechanical or virtual artificial?agent, usually an?electro-mechanical machine?that is guided by a?computer program?or?electronic circuitry. (from Wikipedia) Definition 2: An automatically controlled, reprogrammable, multipurpose manipulator, which may be either fixed in place or mobile for use in industrial automation applications. (from International Organization for Standardization (ISO) ) Definition 3: 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. (from Robot Institute of America (RIA)) Summary: There is no consensus on which machines qualify as robots but there is general agreement among experts, and the public, that robots tend to do some or all of the following: accept electronic programming, process data or physical perceptions electronically, operate autonomously to some degree, move around, operate physical parts of itself or physical processes, sense and manipulate their environment, and exhibit intelligent behavior — especially behavior which mimics humans or other animals. (from Wikipedia) 1.1 BACKGROUND Yearly installations of multipurpose industrial robots for 1995-2000 and forecasts for 2001-2004 Robot