工業(yè)機(jī)器人第七章

1、第七章第七章 智能機(jī)器人簡(jiǎn)介智能機(jī)器人簡(jiǎn)介7.1 7.1 制造業(yè)與非制造業(yè)機(jī)器人制造業(yè)與非制造業(yè)機(jī)器人 服務(wù)機(jī)器人服務(wù)機(jī)器人是一種半自主或全自主工作的機(jī)器人，它能夠完成有益于人類的服務(wù)工作，但不包括從事生產(chǎn)的設(shè)備。制造業(yè)機(jī)器人制造業(yè)機(jī)器人：又稱工業(yè)機(jī)器人，用于制造領(lǐng)域； 非制造業(yè)機(jī)器人：非制造業(yè)機(jī)器人：用于非制造業(yè)，例如醫(yī)用機(jī)器人、農(nóng)業(yè)機(jī)器人、軍用機(jī)器人非制造業(yè)機(jī)器人非制造業(yè)機(jī)器人2大特點(diǎn)大特點(diǎn)： 特異性： 智能性：一. 智能機(jī)器人應(yīng)用領(lǐng)域未知環(huán)境動(dòng)態(tài)環(huán)境人機(jī)共存特種環(huán)境（爆炸、火災(zāi)、地震、）二. 科技新進(jìn)展與民間藝人共舞的機(jī)器人“HRP2”7.2 7.2 典型非制造業(yè)機(jī)器人典型非制造業(yè)機(jī)器人

2、能思考學(xué)習(xí)”世界最聰明機(jī)器人“誕生韓國(guó)開發(fā)出新型智能機(jī)器人“HUBO”主從式機(jī)器人 自治潛水器 “雙鷹”水下機(jī)器人水下掃雷機(jī)器人水下掃雷機(jī)械蟹護(hù)士助手腦外科機(jī)器人輔助系統(tǒng)格林系統(tǒng)智能輪椅導(dǎo)盲機(jī)器人纜索機(jī)器人擦窗機(jī)器人面壁清洗機(jī)器人飛機(jī)清洗機(jī)器人隧道鑿巖機(jī)器人大型噴漿機(jī)器人6.14米盾構(gòu)掘進(jìn)機(jī)器人 導(dǎo)游機(jī)器人自動(dòng)無軌堆垛機(jī)英國(guó)的“手推車”機(jī)器人“土撥鼠”（右）和“野?！保ㄗ螅┡疟瑱C(jī)器人德國(guó)的排爆機(jī)器人遙控掃雷車美國(guó)Cybermotion公司室外保安機(jī)器人 安防機(jī)器人 魔爪軍用機(jī)器人可執(zhí)行拆除簡(jiǎn)易爆炸裝置等危險(xiǎn)任務(wù)“徘徊者”偵察機(jī)器人鬼怪式無人機(jī)“微星無人機(jī)”月球車在月球美國(guó)火星探測(cè)機(jī)器人日本火星

3、探測(cè)機(jī)器人中科大月球機(jī)器人北航多指靈巧手國(guó)防科大“先行者”類人型機(jī)器人北理工人形機(jī)器人管道機(jī)器人 雙足步行機(jī)器人在爬樓梯足球機(jī)器人機(jī)器昆蟲aibo機(jī)器狗軍用昆蟲機(jī)器人美國(guó)麻省理工學(xué)院機(jī)器人獵豹Robotic VehiclesNASA Mars Rover (NASA Jet Propulsion Laboratory JPL).Agricultural robotic vehicle (Int Harv, U.S.)Mining haul truck (ACFR, Australia)IBOT advanced wheel chair (DEKA, U.S.).Solar-powered AU

4、V (Autonomous Undersea Systems Institute (AUSI),FSL, Rensselaer Polytechnic Institute (RPI), U.S.).Examples of military and defense robotic vehicles.Personal and service robots (Hanool, S. Korea).Space roboticsSpace Shuttle robot arm developed by Canadian Space Agency.Mars Exploration Rover.Artists

5、conception of “Robonaut” (an “astronaut-equivalent” robot) performing space assembly.1.5 kg Nanorover developed by JPL for asteroid or Mars exploration.Nomad rover, developed by Carnegie-Mellon University, explored part of Antarctica in 1997 and 1998, and the Atacama desert in Chile in 19967.Ranger

6、Manipulator, developed by theUniversity of Maryland, to demonstrate a wide variety of competent manipulation tasks in Earth orbit. Flight hardware was developed in the 1990s for both an expendable launch vehicle and the Space Shuttle, but at present there is no manifest for a flight experiment.Mars

7、Exploration Rover robot arm,developed by Alliance Space systems, Inc., for JPL.Advanced dexterous manipulator arm for space applications developed at DLR.Dexterous four-fingered handd e v e l o p e d f o r s p a c e applications at DLR.SARCOS dexterous hand capable of force control.Special Purpose D

8、exterous Manipulator on the end of the Space Station Remote ManipulatorSystem, both developed for the Canadian Space Agency. The SSRMS is now in-flight, and the SPDM isawaiting launch.HumanoidsDynamic balancing wheeled humanoids at NASA, Toyota and MIT.Dexterous hands at DLR, Shadow, NASA and Tsukub

9、a.Dexterous arms at DLR, NASA and UMASS.Examples of robots. A FANUC industrial robot (left), a service robot used for security made by Mobile Robotics (center), and a personal entertainment robot made by Sony (right).ROBOTICS FOR BIOLOGICAL AND MEDICAL APPLICATIONSRobotics for medical applications s

10、tarted fifteen years ago while for biological applications it is rather new (about five years old).High-throughput systems for DNA sequencing (U. Of Washington) 2004Doctors perform knee surgery using a robotic system (Taylor, 2004).Networked RobotsNetworked Robots refers to multiple robots operating

11、 together in coordination or cooperatively1 with sensors, embedded computers, and human users.Robotic modules can be reconfigured to “morph” into different locomotion systems including awheel-like rolling system (left), a snake-like locomotion system (right), a four-leggedwalking system (bottom).Son

12、y entertainment robots communicate and coordinate with each other in a game of soccer.Undersea robotic vehicles.日本“2007年度機(jī)器人”大獎(jiǎng)FANUC抓取裝箱機(jī)器人可以抓取裝箱機(jī)器人可以通過自帶的攝像頭識(shí)別散放通過自帶的攝像頭識(shí)別散放在傳送帶上的物品，用在傳送帶上的物品，用3個(gè)機(jī)個(gè)機(jī)械臂頂端的吸盤將物品吸起，械臂頂端的吸盤將物品吸起，再把它們放進(jìn)成排的包裝箱再把它們放進(jìn)成排的包裝箱內(nèi)。臺(tái)機(jī)器人能夠以每分鐘內(nèi)。臺(tái)機(jī)器人能夠以每分鐘120個(gè)以上的速度抓取傳送個(gè)以上的速度抓取傳送帶上快速移動(dòng)的物品。帶上快速移動(dòng)的物品。7.3 7.3 智能機(jī)器人相關(guān)技術(shù)簡(jiǎn)介智能機(jī)器人相關(guān)技術(shù)簡(jiǎn)介智能服務(wù)機(jī)器人是在非結(jié)構(gòu)環(huán)境下為人類提供必要服務(wù)的多種高技術(shù)集成的智能化裝備。與工業(yè)機(jī)器人相比，服務(wù)機(jī)器人的，涉及到的。雖然服務(wù)機(jī)器人分類廣泛，有清潔機(jī)器人、醫(yī)用服務(wù)機(jī)器人、護(hù)理和康復(fù)機(jī)器人、家用