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1、Huashan Feng School of Mechanical Engineering, NPU. Shaanxi Engineering & Technology Research Center of Special Digital Manufacturing Equipment.,Introduction to robotics,References,S. K. SAHA. Introduction to Robotics. China Machine Press,References,John J. Craig 贠超 等译 Introduction to Robotics Mecha
2、nics and Control. 机械工业出版社,Introduction Robot Components Kinematics Dynamics Control Motion Planning Simulation,Outline,Introduction Robot Components Kinematics Dynamics Control Motion Planning Simulation,Outline,History Definition Robotics Types of Robots,Introduction,History,What is a robot?,Histor
3、y,The idea of robot goes back to ancient time of over 3000 years ago in the world.,The Western Zhou Dynasty, our countrys skilled craftsman Yan (偃师)developed the actor who could sing and dance well, this was the robot which our country recorded most early.,History,The idea of robot goes back to anci
4、ent time of china.,The Spring and Autumn Period, our country had a renowned carpenter Lu Ban（鲁班）. He was also an inventor in the mechanical aspect, according to “Mo Jing”（墨经） records. Once he had made a wooden bird that could in the aerial flight “on three days”, which manifest working peoples intel
5、ligent wisdom in our country.,History,The 1800 years ago, Han Dynasty, great scientist Zhang Heng has not only invented the seismograph（地动仪） but also the count drum vehicle（计里鼓车）. On the vehicle, the wooden figurine beats a drum each mile and strikes a clock every ten miles.,张 衡,计里鼓车,The idea of rob
6、ot goes back to ancient time of china.,History,Eastern Han Dynasty Three Kingdom era, Shu Prime Minister Zhuge Liang created a ancient transport vehicle called “wooden cattle and walking horse” successfully, and shipped the military provisions to the warfront with it.,诸葛亮,木牛流马,The idea of robot goes
7、 back to ancient time of china.,History,The idea of robot goes back to ancient time in the world.,The 2nd century B.C., the ancient Greece person in Alexander times has invented the most primitive robot “ automaton”. By the power of the water, the air and the steam pressure, the statue（雕像） can move
8、and even open the door as well as sing.,The 1738 year, French talent technician Jake Wore Wack has invented a machine duck. It can quack calls, swim and drink water, even eat food and drains. The original intention of Wack is to perform the biological function with the mechanization to carry on the
9、medicine analysis.,History,The idea of robot goes back to ancient time in the world.,Leonardo da Vinci created many human-inspired, robot-like sketches, designs, and models in the 1500s.,Leonardo Humanoid Robot with Internal Mechanisms,History,Jaquet-Droz Automata (雅克-德罗机械人偶),1774,The Writer作家,The D
10、raughtsman画家和The Musician音乐家,History,The Writer is the most complex one of the three toys.,70cm高 蘸墨水 写字 眨眼 点头 书写3行 40个字符 （40个齿盘）,瑞士纳沙泰尔美术与历史博物馆收藏,Science Fiction Play Rossums Universal Robots (RUR),The word “robot” was introduced to the public by Czech writer Karel Capek in his play R.U.R. (Rossums
11、Universal Robots), published in 1920. The play begins in a factory that makes artificial people called robots . Capek was reportedly several times a candidate for the Nobel prize for his works .,The Czech Writer Karel Capek （18901938）,1920,RUR robot,The word “Robot”comes from the word “Robota”, mean
12、ing, in Czech, forced labour, drudgery.,History,捷克作家,Science Fiction I，Robot,USA Writer Isaac Asimov (1920 1992),1950,The word “robotics”, used to describe this field of study, was coined accidentally by the Russian born , American scientist and science fiction writer, Isaac Asimov in 1940s.,Asimov
13、also proposed his three “Laws of Robotics”.,History,Law Zero: A robot may not injure a human being, or, through inaction, allow a human being to come to harm. Law One: A robot must obey orders given it by human beings, except where such orders would conflict with a higher order law. Law Two: A robot
14、 must protect its own existence as long as such protection does not conflict with a higher order law. Law Three: A robot may take a human beings job but it may not leave that person jobless.,LAWS OF ROBOTICS,later added a “fourth law”.,19541961,USA inventor George C. Devol (L) and Joseph F. Engleber
15、ger(R),History,The first industrial robots were Unimate developed by George Devol and Joe Engelberger in the late 50s and early 60s.,1962,American Machine and Foundry, later known as AMF Corporation, markets a first cylindrical robot, called the “Versatran”.,The PUMA (Programmable Universal Machine
16、for Assembly) robot is developed by Unimation with a General Motors design support.,1978,History,1973,The Stanford arm performed small-parts assembly using feedback from touch and pressure sensors. It had marketed a version of the arm for industrial applications. The new arm was controlled by a minicomputer.,The variable sequence robot Teaching and playback robot Numerical control robot,First Generation,History,试题,Touch sensors Pressure sensors Vision sensors
