机器人机构学基础 课件 1绪论

机器人机构学一、绪论什么是机器人机器人定义1:amachinethatresemblesalivingcreatureinbeingcapableofmovingindependently(asbywalkingorrollingonwheels)andperformingcomplexactions(suchasgraspingandmovingobjects).2:a:adevicethatautomaticallyperformscomplicated,oftenrepetitivetasks(asinanindustrialassemblyline);b:amechanismguidedbyautomaticcontrol.3:apersonwhoresemblesamachineinseemingtofunctionautomaticallyorinlackingnormalfeelingsoremotions.Merriam-Webster机器人发展1920，Rossum’sUniversalRobots1950，IsaacAsimov’sThreeLawsofRoboticsFirstLaw:Arobotmaynotinjureahumanbeingor,throughinaction,allowahumanbeingtocometoharm.SecondLaw:ArobotmustobeytheordersgivenitbyhumanbeingsexceptwheresuchorderswouldconflictwiththeFirstLaw.ThirdLaw:ArobotmustprotectitsownexistenceaslongassuchprotectiondoesnotconflictwiththeFirstorSecondLaw.ZerothLaw:Arobotmaynotharmhumanity,or,byinaction,allowhumanitytocometoharm.WikipediaPUMAThe

PUMA

(Programmable

Universal

Machinefor

Assembly,or

Programmable

Universal

Manipulation

Arm)isan

industrial

roboticarm

developedby

VictorScheinman

atpioneering

robot

company

Unimation.Initiallydevelopedfor

GeneralMotors,thePUMAwasbasedonearlierdesignsScheinmaninventedwhileat

StanfordUniversity.WikipediaShakeyShakeytheRobot

wasthefirstgeneral-purposemobile

robot

abletoreasonaboutitsownactions.Whileotherrobotswouldhavetobeinstructedoneachindividualstepofcompletingalargertask,Shakeycouldanalyzecommandsandbreakthemdownintobasicchunksbyitself.WikipediaBostonDynamicsBostonDynamics

isanAmerican

engineering

and

robotics

designcompanyfoundedin1992asa

spin-off

fromthe

MassachusettsInstituteofTechnology.Headquarteredin

Waltham,Massachusetts,BostonDynamicshasbeenownedbythe

HyundaiMotorGroup

sinceDecember2020,buthavingonlycompletedtheacquisitiononJune2021.BigDogCheetahLittleDogPETMANLS3AtlasSpotHandleStretchPickFactorySafetyServiceRobot[1]Wikipedia[2]/YearNameDescriptionCreatorCategory2012NaoAutonomous

humanoidrobotAldebaranRoboticsEducation&Consumer2006DavidCharacterfromthefilm

A.I.ArtificialIntelligenceBrianAldissEntertainment2010DeweyCharactersfromthefilm

SilentRunningStevenBochco,

MichaelCimino,

DericWashburnEntertainment2010HueyCharactersfromthefilm

SilentRunningStevenBochco,

MichaelCimino,

DericWashburnEntertainment2010LouieCharactersfromthefilm

SilentRunningStevenBochco,

MichaelCimino,

DericWashburnEntertainment2012BigDogQuadrupedal

militaryrobotBostonDynamics,

Foster-Miller,

NASA

JetPropulsionLaboratory,

HarvardUniversityConcordFieldStationResearch2010TerminatorT-800Characterfromthe

Terminator

franchiseJamesCameron,

GaleAnneHurdEntertainment2008Navlab5Autonomousrobotic

vehicleCarnegieMellonSchoolofComputerScienceResearch2003HAL9000Characterfromthefilm

2001:ASpaceOdysseyArthurC.ClarkeEntertainment2003UnimateFirst

industrialrobotGeorgeDevol,

JosephEngelbergerIndustrial&Service2006MariaCharacterfromthefilm

Metropolis;citedasthefirstrobottobedepictedincinemaTheavonHarbou,

FritzLangEntertainment2004ASIMOMulti-functional

humanoidrobotHondaResearch2004RobbytheRobotCharacterfromthefilm

ForbiddenPlanetCyrilHumeEntertainment2010daVinciSurgicalSystemRoboticsurgicalsystemIntuitiveSurgicalIndustrial&Service2010RoombaAutonomous

roboticvacuumcleaneriRobotEducation&Consumer2012PackBotMilitaryrobotiRobotIndustrial&Service2008LegoMindstormsRobottoykit

seriesLegoEducation&Consumer2003R2-D2Characterfromthe

StarWars

franchiseGeorgeLucasEntertainment2004C-3POCharacterfromthe

StarWars

franchiseGeorgeLucasEntertainment2003SojournerMarsExplorationRoverNASAResearch2010OpportunityMarsexplorationroverNASAResearch2010SpiritMarsexplorationroverNASAResearch2006GortCharacterfromthefilm

TheDaytheEarthStoodStillEdmundH.NorthEntertainment2008RaibertHopperFirstself-balancinghoppingrobotMarcRaibertResearch2008Lt.Cmdr.DataCharacterfromthe

StarTrek

franchiseGeneRoddenberryEntertainment2006AIBORoboticpetSonyEducation&Consumer2004ShakeyFirstgeneral-purposemobilerobottobeabletoreasonitsownactionsSRIInternationalResearch2012WALL-ECharacterfromthefilm

WALL-EAndrewStantonEntertainment2004AstroBoyCharacterfromthe

AstroBoy

franchiseOsamuTezukaEntertainment2006SCARAFour-axis

industrialrobot

armUniversityofYamanashiIndustrial&ServiceListofrobotsintheRobotHallofFameListofrobotsi