机器人学基础Robotics-Chap01.pdfVIP

Chapter 1 Introduction What does a robot look like in your mind？ A rudiment of manipulator 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 prices compared with human labor costs in the 1990s Categories of robot: According to actuator types: •Electrical actuators •Hydraulic actuators •Pneumatic actuators •Others: piezo actuators, shape memory alloy (SMA), magnetostrictive actuators According to intelligence levels: •Normal robots: only programmable •Intelligent robots: some kind