ROBOT

Ver 1.0

ROBOT , ROBOT , . ISO , JIS , KS , ROBOT , " " .

2() 3 3D 1 0 2 . Three-dimensional 3 sensing . () ( 3D vision ). Binarization

AND-OR CP DH AND-OR graph Continuous path control DenavitHartenberg model Global positioning system Pose-to-pose control , () , AND OR . . , , , 4 Denavit-Hartenberg ( ) . .

GPS PTP

RCC

. , Remote center (RCC) . compliance device "RCC", () .

() () () ( ) (). (), . , . . Guard , , , , , , , . Manipulability measure (). Indirect teaching . Sensory control . Sensory . controlled robot Information of , emotion and human . sensibility Motion space

( ) () ()

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ROBOT , ()

Ver 1.0

Reduced speed control, Slow speed control Stiffness Gantry robot Distance repeatability Distance sensor, Range finder Distance accuracy Gait diagram Gait Path Path acceleration Path planning Path repeatability Path generation Path velocity Path velocity repeatability Path velocity fluctuation Path velocity accuracy Path guide method

, ()

Path accuracy Path optimization Path learning Path point Via point Fixed sequence manipulator

(), , 250 mm/s ( , Reduced speed) . , (). (Arm) , . "(Gantry)",() . . 1 , . (6) . (), , . , () . . . , , . . . . . () () . . , () . () , () , () . , . . . . . () , (Physical alteration) , .

Insect type robot 6 () , . Spatial filter Joint space Leg with rotary joint, Articulated leg () (Slit) . () ( ) . , .

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ROBOT

Ver 1.0

(Arm) , 3 .

Anthropomorphic robot, Articulated robot

, (Task) . . () a) . Teach programming b) . c) . () Teacher . 1 3 () Spherical joint . " (Ball joint)" . (), Drive wheel, , . () Driving wheel Drive power (). () , Constraint space . () Fine motion () . planning () Multiple robots . Trajectory . planning Trajectory . generation Trajectory . control , 3 Trajectory . operated robot , . Trajectory . learning () Trajectory . Gross motion planning (Gross motion) . . "(Hand)" . , "(, Grasp)" Gripper () , "(Hold)" , . () Teaching

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ROBOT

Ver 1.0

(Arm) , 2 1 , .

Polar robot, Spherical robot

/ () ()

, ./ . Functional model , (Application) . , Functional safety . Basic , configuration . Geometric , () . constraint Geometric , reasoning . Geometric model . Proximity sense/ Proximity sensor

() () ( ) , Internal measuring function Internal measurement sensor Navigation Ground reaction, Ground reaction force Noise reduction Intensity histogram Neural network .

. , () , . . () . () . () , .

Articulated () structure () Leg mechanism () Leg phase () () Leg Legged robot , (Arm) (Wrist) . , " " . , . , () . , () () () . () .

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ROBOT

Ver 1.0

Multipurpose

(Physical alteration) (Application) .

()

Multi-directional 3 pose accuracy . variation () (Source) Single point of , control . Step , . .

Individual joint () acceleration, Axis acceleration Individual joint () velocity, Axis velocity Object level language Object coordinate system , ( Dead reckoning ) Database Synchronous operation Animal type robot Dynamic walking

. . . , , (Gyro), , . . , () . . (), , , . , () . 2 . , () . () . , . , () , , . . , . , , () . , / , . , (Tangent) . . () .

() ()

Simultaneous motion

() ()

Dynamic model Motion level language Motion programming Duty factor Drift Hill climbing ability, Gradability Digital filter

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ROBOT

Ver 1.0

Line sensor Landmark Robotics Robot sensor

() . , () . , . () () . , . - - - ,

,

Robot system, Industrial robot system

Robot language Robot control system Body coordinate system

, ( )

. ( ) . " (Robot controller)" . . +x, +y, +z .

Robot control . code Intermediate code . Local control . Localization . () . "" "" . / , . 6 / 26

/ Lockout/Tagout

ROBOT

Ver 1.0

Roll Rule-based planning

(x) . () . Redundant control , . Risk () . , Link .

, MDI Master-slave manipulator Master-slave control Micro robot system Friction cone Manual data input programming, MDI Mapping, Map building, Map generation () () . , . (cm) . 2 () , , . , . , () .

, (, ) . , , Manipulator (PLC), (Cam) () (Relay) . , , , Multi-modal , , interface . Multi-sensor , () system , . Multi-agent robot , , system . Maintenance robot () Mechanochemical () , material . Mechanical () . interface Mechanical . interface coordinate system , Meta rule . ()() , Metal hydride . () Model-based . planning , , Motion capture 3 .

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ROBOT

Ver 1.0

() () ()/ ()/

Unconstrained monitoring Noninvasive monitoring Problem solving Physical model Object model Object understanding Object recognition Sense of taste/ Taste sensor Slip sense/ Slip sensor

. (Catheter) . , () . , , ( ) , () . . , , . () , . ./ , . ./ . () , () (Template).

() Differential operator

, . , () Foot () () . ( Protective ) measure . Protective device . Backward , () reasoning () . Virtual reality(VR) (). (). Base , . Base mounting . surface Base coordinate . system Step length, () , () . Leg stroke Walking robot . Walking period , 1 . () Walking , () . , ( Protective stop ) . Rehabilitation . robot Intrinsic safe , . designing Body center . (, (Arm)) Additional mass . Rough terrain, () , () . Uneven terrain Bilateral servo system

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ROBOT

Ver 1.0

Load

() , , () () . . , . ./ . , , . . , . , . , , , () , . , , . (), .

Distributed tactile sense/ Distributed tactile sensor () Non-verbal communication () Non-holonomic constraint / Emergency stop Non-contact sensing Non-contact sensor Behavior-based robot Bin-picking

() Person User Cycle Cycle time Diagonal travel () . , () . 1. . , . , , 3 , , . , . - ( ) - () , ( ) , . 1962, Unimation , , 1970 , 1980 .

Industrial robot

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ROBOT

Ver 1.0

Distribution of industrial robots

*** ( : ) *** 2008 End 2005 End 355,562 370,481 (, , ) 168,489 139,984 144,803 126,294 76,923 61,576 63,051 56,198 34,370 30,236 31,787 11,557 28,636 24,141 23,644 15,464 15,133 14,948 1,035,674 922,838

2 1, Triangulation . State space . Shaft mechanical (, ) interface . Servo rate . Servo error (Controlled variable) . , Servo control . , (Controlled variable) , Servo system, , () Servo mechanism (Feedback control system). "(Servo)" . Subsumption architecture . Service robot . Turning radius , . Center of turning , . () Turning . , Installation . Sensor glove (). Sensor network . Sensor model , . Sensor suit , . Sensor-guided , , method . Sensor fusion/ () , Sensor data . fusion Sensor () , integration () . Sensor fusion , () (). , , Sensor planning .

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ROBOT

Ver 1.0

Sensor-based control Sensing Software servo system Wrist reference point

. " (Sensor control)" . , . .

2 . , . , Wrist, () , (Arm) 2 Secondary axes . , , () . Solid model B-rep(Boundary representation), CSG(Constructive solid geometry), Octree . , Manual mode . , . () Passive , compliance () . Numerically , controlled robot, (), NC robot . ( Forward , ) kinematics . , Threshold . Swept volume . (Arm) , , . SCARA robot "SCARA" Selective Compliance Assembly Robot Arm . , Skill , , ( ) . () () Stereo vision , 3 . , 1 Stride . , () () Structured light () . , Steering () . () (Arm), 2 3 () Spine robot . () () (), () 3 Spot sensing . Spin turn . () (), () Slit sensing 3 . Visual () information . processing Visual feedback . Visual feedback . control

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ROBOT /

Ver 1.0

Vision sense, Visual sense/ Vision sensor, Visual sensor Commissioning Sequence robot

./ . , , . "(Start-up)" . , , .

Sequence control, , Sequential . control Test load . , , Reliability . Attained pose .

, (). ( (). Safeguarded space ) () () . Safeguard (). , Reduced speed () , . Safe working () procedure . Safety . confirmation system () , Safety . Contact force , () ()/ sense/ ./ Contact force . sensor , , Robot actuator (). , () , Active vision () . , , , , (Damping) () Active suspension () . , , Active sensing () . Amusement robot, , . Entertainment robot Language . understanding Verbal . communication , , , Face robot . Safeguarding

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ROBOT

Ver 1.0

Facial expression . recognition Alignment pose . , , , , , (), () Energy source , , (). Area sensor 2 () . () Agent . () Edge detection . () , Expert system . End-effector (, , , , , ). . () End-effector () coupling device . Automatic end , effector exchange . system () Tool coordinate . system () , () Force display , (), . ./ . ()/ Force sense/ , 3 , 3 Force sensor 6 . " ", "6 " . ( Inverse , ) kinematics . , Space 3 . , Overrun () . , , , Overshoot () . Object-oriented . programming Operator , . Off-line programmable . , robot . Off-line , programming . Vehicle length, , . Overall length Vehicle width, , . Overall width Vehicle height, , . Overall height Omni-directional vision . Omni-directional , travel .

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ROBOT

Ver 1.0

Omni-directional mobile mechanism Optical flow

Wireframe model () () () (), () () External measuring function External measurement sensor Yaw

, (). 3 , . , (, Edge) (, ) . , . , .

(z) . Personnel . Motion planning , . Motion estimation , , . Operating mode . Operational () , space, , (). Operating space Working memory , () . , , Remote teaching (Arm), (Hand) . Tele-operation . Teleoperated . robot Cylindrical joint, . Distributed joint (Arm) , 1 1 , .

Cylindrical robot

World model World coordinate system Position servo system Position recognition Hazard Hazardous motion

. () . (Controlled variable) . . () . " " "" . () .

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ROBOT () ()

Ver 1.0

Swing leg, Transfer leg Guidance control Guidance

, .

() ()

. . , () Ubiquitous robot . , , Genetic algorithm , , . Speech . recognition Speech synthesis . Medical robot . , Enabling device . Mobile mechanism , . . Mobile robot () . Moving obstacle , . Passage plane (). Ionic conducting polymer gel () () . film(ICPF), , () Ionic polymer () . metal composite(IPMC) Human-symbiotic . robot Human behavior , understanding . Human-robot () () communication . Humanoid robot . Artificial life () . , , , . Artificial , (), , , intelligence , . Processing for . recognition , , . Interlock , , , . 2 (Boundary) , , , Interface , . , . , (), () Impedance () .

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ROBOT (),

Ver 1.0

( ) . Impedance control (Manipulated variable) () . Stance leg, , . Supporting leg

Self-preservation Magneto ( rheological ) fluid(MRF) Self-organizing robot Automatic mode Self-sustained mobile robot, Self-contained mobile robot Attitude control Free space Degree of freedom, DOF () . . () () () , () . . . . . () . () ( 6). "(Axis)" , "" . , . , . , . . . , , . () . . , .

()

Autonomous distributed robot system Autonomous distributed control Autonomous locomotion Autonomous mobile robot ( Operating range ) , Task planning () Task teaching Task level languages Recognition of task condition

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ROBOT

Ver 1.0

(), () ().

()

Work space, Working space

() Center of the working space Task understanding Task coordinate system Goal-directed programming

(Arm) () . , . (Task) .

, , . (), , Task learning . Obstacle , . Obstacle () , avoidance (, , ) . (Physical alteration) , Reprogrammable . Disaster response , () robot . Adaptive robot , , . , Adaptive control . Adaptive control . robot Electro() () () ( rheological , () ) fluid(ERF) . Overturning () moment . () Front-wheel drive , . Forward travel , .

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ROBOT

Ver 1.0

Pre-processing Occupied space Ground contact area Ground contact pressure Contact-safety Touch sense/ Touch sensor Contact sensor Contact sensing Rated load

, , , , () . ( ) , . , , , () . , , , () . () , . ./ . , , , () . . , . , . , () . . (, ) ( , ). () (, ) .

(), ( ) ()/

() ,

Static walk Normal operating state, Automatic operation Normal operating conditions Emotional interface

() () , ( ) , ZMP

Static compliance . Stopping accuracy , (). Stationary obstacle Stop-point Brake mechanism , . 0, 0 , . .

() ZMP, , Zero moment point 0 . Gesture , recognition . , . Control program , . , () Limiting load .

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ROBOT

Ver 1.0

()

Restricted space

() () (), () ()

Limiting device Gentle motion Assembly task planning Joystick Joint Joint coordinate system Operation simulator Steering control Steering angle Steering wheel Protective equipment of presence-sensing Presence sensing device Idler wheel, Follower, Trailing wheel, Idling wheel, Idler Coordinate transformation

() , (Limiting device) (). . / () , . . , . , , . 2 . . . () . . (). , . , () . . , , () , , () .

()

(), (), ()

, .

, .

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ROBOT

Ver 1.0

X, Y Z 3 . (Tool) () .

Coordinate system

() View point control () Travelling accuracy Travelling, Propelling, Traction Intelligent robot Command pose, Programmed pose Knowledge base

() , , , . , (). , (Wheel) (Crawler) . . . () . () , . (Arm) , 3 , .

() Support polygon

Rectangular robot, Cartesian robot

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ROBOT

Ver 1.0

Leg with () prismatic joint () () Direct teaching Prismatic joint, Sliding joint

, . (Arm), (Hand) . . (Arm) , () .

()

Pendular robot

() () / Wheeled mobile robot Emergence Acoustic sense, Hearing sense/ Acoustic sensor, Hearing sensor () . ( ) () . () () ./ . .

, Ultrasonic sensor , , . () () Tactile display (), . Tactile image sensing Tactile display Tactile feedback Tactile feedback control Tactile sense/ Tactile sensor All-wheel drive Total mass Minimum posing time Maximum moment load () , , () . , , (), . () . . ./ . , . . , (6) ( ). () (() ).

/ ()

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ROBOT

Ver 1.0

Maximum thrust load Maximum safety angle Maximum space Maximum payload, Loading capacity Resolution Follow-up control, Tracking control Axis Collision-safety Collision avoidance Friendliness

()

() (() ). . () (), () . . ( ). "()" . . () . "() " . () , . () , . , , , , .

() ()

Camera coordinate . system Configuration (, Unique) space . . , (Arm) , Configuration , ( ) . Compliance . control (Manipulated variable) . (), . , () . , () . Compliance "() ", "() " . Cornering force () . Tracked mobile robot, () . Crawler mobile robot , () () (Shoe) , () , Crawler, (Sprocket wheel) Track (). " (Continuous track)" .

Search space Task model . (Task) . 22 / 26

ROBOT

Ver 1.0

Task programming

Task program

. () . , . "(Application)", , "(Task)", , . , . , .

Teleoperator

, , TCP ()

, , Tele-existence , . "" . Tele-presence () . Template matching (, /) . Torque sensor 3 . Tool center point, TCP Traverse Tracking vision Troubleshooting . TCP () . , . () . , . , () . 2 , . () .

()

Singular point, Singularity Feature extraction

() , , 1 Grasp planning Power assist system, Power assistance system Arm, Primary axes Parallel robot Pattern matching Pattern classification Pattern recognition Fuzzy rule , , . , (), . , . . 2 , . , . . () . 23 / 26

ROBOT

Ver 1.0

, () ()

, ( )

() Potential field , method . Performance . . Peg-in-hole task . , Failsafe . Pendant, , , Teach pendant , . , Forward reasoning () . Pose (6). (Uni-directional) , Pose (Dispersion). repeatability Drift of (unidirectional) pose . repeatability Pose () , stabilization () . time () Pose overshoot () . (Uni-directional) , Pose accuracy (Bias). . Drift of (uni directional) pose , accuracy . () Fault tolerance . , Surface model . Standard robot . language Standard cycle 1. , , Fool-proof . () . Frame . Programmer . Program verification . (TCP) Program path . Production rule . , Production system () . ( Fly-by point ) . Planning . Flange mechanical . interface

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ROBOT , ()

Ver 1.0

Playback robot Playback Feedback

() , . , .

(Output) (Input) , . Feedback control, (Controlled variable) (Desired , Closed-loop value) , (Manipulated control variable) . Pivot turn, , () Pivoting (). Pitch (y) . , Filter .

Physical alteration Hybrid control Weight distribution Learning control Learning controlled robot , , ROM . , . , , , () . , / , . .

, () Hand-eye system . , . . Haptic interface, Haptic devices . Allowable step () . height Allowable gap () . width Head-mounted () display(HMD) . () , , Suspension . Collaborative , () operation . Collaborative () , work space . Coordinated , (TCP) ( motion , ) . Coordinated . motion planning Cooperation, , Cooperative . working

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ROBOT

Ver 1.0

Coordination control, Cooperative control Shape memory alloy

, . . , . , . . . . 1 2 () . . (), , , . , () () , . . , () . . . , . , () . . , . ./ , . , . , . , () , . . . ( ). . , . (Controlled variable) . 3 . () .

Hold-to-run control Holonomic constraint Home robot, Domestic robot () Image coding () , Image sensor () Image recognition () (), () () , () () ()/ () Image processing Pixel Environment teaching Environment model Environment understanding Environment recognition Environment map Environmental sound recognition Rotary joint, Revolute joint Conversation recognition Sense of smell/ Smell sensor Rear-wheel drive Reverse travel Heuristics Human interface Human-robot interface Human-machine interface Teaching by showing Force servo system Force sensor Force feedback

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