机器人学导论课件

Huashan FengHuashan FengSchoolofMechanicalEngineering,NPU.ShaanxiEngineering&TechnologyResearchCenterofSpecialDigitalManufacturingEquipment.Introductiontorobotics1.Introductiontorobotics1.ReferencesnS.K.SAHA.nIntroductiontoRobotics.nChinaMachinePress2.ReferencesS.K.SAHA.2.ReferencesnJohnJ.Craign贠超等译nIntroductiontoRoboticsMechanicsandControl.n机械工业出版社3.ReferencesJohnJ.Craig3.nIntroductionnRobot ComponentsnKinematicsnDynamicsnControlnMotion PlanningnSimulationOutline4.IntroductionOutline4.nIntroductionnRobot ComponentsnKinematicsnDynamicsnControlnMotion PlanningnSimulationOutline5.IntroductionOutline5.nHistorynDefinitionnRoboticsnTypes of RobotsIntroduction6.HistoryIntroduction6.History7.HistoryWhatisarobot?7.HistoryTheideaofrobotgoesbacktoancienttimeofover3000yearsagointheworld.TheWesternZhouDynasty,ourcountrysskilledcraftsmanYan(偃师偃师)developedtheactorwhocouldsinganddancewell,thiswastherobotwhichourcountryrecordedmostearly.8.HistoryTheideaofrobotgoesHistoryTheideaofrobotgoesbacktoancienttimeofchina.TheSpringandAutumnPeriod,ourcountryhadarenownedcarpenterLuBan（鲁班）（鲁班）.Hewasalsoaninventorinthemechanicalaspect,accordingto“MoJing”（墨经）（墨经）records.Oncehehadmadeawoodenbirdthatcouldintheaerialflight“onthreedays”,whichmanifestworkingpeoplesintelligentwisdominourcountry.9.HistoryTheideaofrobotgoesHistoryThe1800yearsago,HanDynasty,greatscientistZhangHenghasnotonlyinventedtheseismograph（地动仪）（地动仪）butalsothecountdrumvehicle（计里鼓车）（计里鼓车）.Onthevehicle,thewoodenfigurinebeatsadrumeachmileandstrikesaclockeverytenmiles.张张衡衡计里鼓车计里鼓车Theideaofrobotgoesbacktoancienttimeofchina.10.HistoryThe1800yearsago,HaHistoryEasternHanDynastyThreeKingdomera,ShuPrimeMinisterZhugeLiangcreatedaancienttransportvehiclecalled“woodencattleandwalkinghorse”successfully,andshippedthemilitaryprovisionstothewarfrontwithit.诸葛亮诸葛亮木牛流马木牛流马Theideaofrobotgoesbacktoancienttimeofchina.11.HistoryEasternHanDynastyThrHistoryTheideaofrobotgoesbacktoancienttimeintheworld.The2ndcenturyB.C.,theancientGreecepersoninAlexandertimeshasinventedthemostprimitiverobot“automaton”.Bythepowerofthewater,theairandthesteampressure,thestatue（雕像）（雕像）canmoveandevenopenthedooraswellassing.The1738year,FrenchtalenttechnicianJakeWoreWackhasinventedamachineduck.Itcanquackcalls,swimanddrinkwater,eveneatfoodanddrains.TheoriginalintentionofWackistoperformthebiologicalfunctionwiththemechanizationtocarryonthemedicineanalysis.12.HistoryTheideaofrobotgoesHistoryTheideaofrobotgoesbacktoancienttimeintheworld.LeonardodaVincicreatedmanyhuman-inspired,robot-likesketches,designs,andmodelsinthe1500s.LeonardoHumanoidRobotwithInternalMechanisms13.HistoryTheideaofrobotgoesHistoryJaquet-DrozAutomata(雅克雅克-德罗机械人偶德罗机械人偶),1774TheWriter作家作家,TheDraughtsman画家和画家和TheMusician音乐家音乐家14.HistoryJaquet-DrozAutomata(雅HistoryTheWriteristhemostcomplexoneofthethreetoys.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15.HistoryTheWriteris70cm高瑞士纳沙泰ScienceFictionPlayRossumsUniversalRobots(RUR)Theword“robot”wasintroducedtothepublicbyCzechwriterKarelCapekinhisplayR.U.R.(RossumsUniversalRobots),publishedin1920.Theplaybeginsinafactorythatmakesartificialpeoplecalledrobots.CapekwasreportedlyseveraltimesacandidatefortheNobelprizeforhisworks.TheCzechWriterKarel CapekKarel Capek（1890189019381938）19201920RURrobotTheword“Robot”comesfromtheword“Robota”,meaning,inCzech,forcedlabour,drudgery.History捷克作家捷克作家16.ScienceFictionPlayTheword“ScienceFictionI，RobotUSAWriter Isaac AsimovIsaac Asimov(1920 1992)(1920 1992)19501950The word“roboticsrobotics”,used to describe this field of study,was coined accidentally by the Russian born,American scientist and science fiction writer,Isaac Asimov in 1940s.Asimovalsoproposedhisthree“LawsofRobotics”.History17.ScienceFictionUSAWriter195nLawZero:Arobotmaynotinjureahumanbeing,or,throughinaction,allowahumanbeingtocometoharm.nLawOne:Arobotmustobeyordersgivenitbyhumanbeings,exceptwheresuchorderswouldconflictwithahigherorderlaw.nLawTwo:Arobotmustprotectitsownexistenceaslongassuchprotectiondoesnotconflictwithahigherorderlaw.nLawThree:Arobotmaytakeahumanbeingsjobbutitmaynotleavethatpersonjobless.LAWSOFROBOTICSlateraddeda“fourthlaw”.18.LawZero:LAWSOFROBOTICSlate1954195419611961USAinventorGeorge C.Devol(L)andGeorge C.Devol(L)andJoseph F.Engleberger(R)Joseph F.Engleberger(R)HistoryThefirstindustrialrobotswereUnimatedevelopedbyGeorgeDevolandJoeEngelbergerinthelate50sandearly60s.19.19541961USAinventorHistoryT19621962AmericanMachineandFoundry,laterknownasAMFCorporation,marketsafirstcylindricalrobot,calledthe“Versatran”.ThePUMA(ProgrammableUniversalMachineforAssembly)robotisdevelopedbyUnimationwithaGeneralMotorsdesignsupport.19781978History19731973TheStanfordarmperformedsmall-partsassemblyusingfeedbackfromtouchandpressuresensors.Ithadmarketedaversionofthearmforindustrialapplications.Thenewarmwascontrolledbyaminicomputer.20.1962AmericanMachineandFoundThevariablesequencerobotTeachingandplaybackrobotNumericalcontrolrobotFirstGenerationHistory试题试题21.ThevariablesequencerobotFiTouchsensorsPressuresensorsVisionsensorsSonarsystemphotoelectriccell19651965，BeastBeast+HistorySecondGenerationSensorsRobot22.Touchsensors1965，Beast+HistorThirdGenerationShakeywasthefirstmobilerobotwithRobotvisionanddemonstratedattheStanfordResearchInstitute.19681968FirstbipedrobotWL-3designedbyProfessorIchiroKatoofWasedaUniversity,JAPAN.19691969Understandingtheenvironmentand“thinking”.History23.ThirdGenerationShakeywast认知智能认知智能CognitiveIntelligence计算智能计算智能ComputingIntelligence感知智能感知智能SensingIntelligence机器人技术不断突破机器人技术不断突破24.认知智能CognitiveIntelligence感知智What is a Robot?VS25.WhatisaRobot?VS25.What is a Robot?机器人机器人机器人技术关注的是与机器人技术关注的是与人进行合作的自主或半人进行合作的自主或半自主传感与执行系统。自主传感与执行系统。机器人技术研究强调的机器人技术研究强调的是能够使系统面对非结是能够使系统面对非结构化环境的智能与适应构化环境的智能与适应能力。能力。自动化设备自动化设备自动化技术强调的是效自动化技术强调的是效率、生产率、质量以及率、生产率、质量以及可靠性。自动化技术着可靠性。自动化技术着眼于在一个结构化的环眼于在一个结构化的环境中系统长时间的运行境中系统长时间的运行以及上述结构化环境的以及上述结构化环境的建构。建构。美国电子与电气研究所（美国电子与电气研究所（R&A协会）协会）26.WhatisaRobot?机器人自动化设备美国电A re-programmable,multifunctional,A re-programmable,multifunctional,automatic industrial machine designed to automatic industrial machine designed to replace human in hazardous work.replace human in hazardous work.RobotsarealsousedforthefollowingtasksDirtyTasksRepetitivetasksDangeroustasksImpossibletasksRobotsassistingthehandicappedCanoperateequipmentsatmuchhigherprecisionthanhumans.Cheaperonalongtermbasis.What is a Robot?27.Are-programmable,multifunctiDefinitionA reprogrammable,multifunctional manipulator designed to move material,parts,tools or specialized devices through various programmed motions for the performance of a variety of Tasks.International Standard of Organization.28Thereexistseveralotherdifinitionstoo,givenbyothersocieties,e.g.RIA,JIRA,BRA,andsoon.试题试题TraditionalRobot28.DefinitionAreprogrammable,munVersatility(Versatility(通用性通用性)-)-AnabilityforperformingdifferentfunctionsanddifferentworkDependsonthestructuralcharacteristicsandbearingcapacityThemoregeneraldegreeoffreedom,theversatilityisstrong.AdaptivityAdaptivity（适应性）（适应性）-AnadjustmentabilityforthevariationalenvironmentSensingandmeasurementofenvironmentalchangeTaskanalysisandplanningFastinstructionexecutionDefinitionAlldefinitionshavetwopointsincommon.试题试题29.Versatility(通用性)-AnabilityRobotics is science of designing or building an application of robots.Simply,Robotics may be defines as “The Study of Robots”.The aim of robotics is to design an efficient robot.WHAT IS ROBOTICS.?Robotics is an interdisciplinary area and a comprehensive knowledge of three disciplines.Motion subsystemMechanical engineeringRecognition subsystemComputer science Control subsystemElectrical engineeringDisciplines:mathematics,physics,biology,mechanical engineering,electrical engineering,computer engineering,and computer science.30.RoboticsisscienceofdesigniKnowledgebaseforRoboticsnKinematics Kinematics 运动学运动学nDynamics Dynamics 动力学动力学nMechanisms and Actuation Mechanisms and Actuation 机构与执行器机构与执行器nSensing and Estimation Sensing and Estimation 感知与估计感知与估计nMotion Planning Motion Planning 运动规划运动规划nMotion Control Motion Control 运动控制运动控制nForce Control Force Control 力控制力控制nRobotic Systems Architectures and Programming Robotic Systems Architectures and Programming 机器人系统的体系结构与编程机器人系统的体系结构与编程nAI Reasoning Methods for Robotics AI Reasoning Methods for Robotics 机器人人工智能推理方法机器人人工智能推理方法31.KnowledgebaseforRoboticsKineRoboticsTerminologyRobot-That is mechanical device that performs human tasks,either automatically or by remote control.Robotics-Study and application of robot technology.Telerobotics-operated remotelyRolling robots-Robotshave wheels to move around.They can quickly and easily search.However they are only useful in flat areas.Walking robots-Robots on legs are usually brought in when the terrain is rocky.Most robots have at least 2 legs;usually they have 4 or more.Autonomous robots Robots are self supporting or in other words self contained.In a way they rely on their own“brains”.Mobile Robots-Robots that move around on legs,tracks or wheels.Industrial Robots-an automatically manipulator programmable in three or more axes.32.RoboticsTerminologyRobot-ThTypes of RobotsRobotsarebroadlyclassifiedasnIndustrialrobotWeldingPaintingAssemblyMachinetoolloadingandunloading（码垛）（码垛）Machining（加工）（加工）Inspection（检测）（检测）nSpecialpurposerobotSurveillance（勘察）（勘察）AgricultureNursingpurposes（护理）（护理）Medicalsurgery（手术）（手术）Military（国防军事）（国防军事）Security（公共安全）（公共安全）Machine-toolstounderseaSpaceexplorations试题试题33.TypesofRobotsRobotsarebroaTypes of RobotsnIndustrialrobotRoboticmanipulator(arm)End-effectorAutomaticGuidedVehicles(AGVs)nNationaldefenseandpublicsafetyrobotAerospace、Undersea、TerrainrobotRescuerobotnPeopleslivelihoodscienceandtechnologyrobotEducational,EntertainmentandDomesticrobotEmotionalrobotandRoboticpetMedicalrehabilitationrobot（医疗康复）（医疗康复）34.TypesofRobotsIndustrialroboTypes of RobotsnIndustrialrobotRoboticmanipulator(arm)End-effectorAutomaticGuidedVehicles(AGVs)nNationaldefenseandpublicsafetyrobotAerospace、Undersea、TerrainrobotRescuerobotnPeopleslivelihoodscienceandtechnologyrobotEducational,EntertainmentandDomesticrobotEmotionalrobotandRoboticpetMedicalrehabilitationrobot35.TypesofRobotsIndustrialroboWeldingrobotsPaintingrobotsDesignedtoworkintirelessanddangerousenvironmentsIndustrialrobot36.WeldingrobotsPaintingrobotsDAssemblyrobotsHighRepetitivepositioningaccuracyHighLoadcapacityHighmovementofefficiencyIndustrialrobot37.AssemblyrobotsHighRepetitivCartesianrobotforloadingandunloadingSerialrobotsTranslatorytypejoint(prismaticjoint,Piston-cylinderjoint)ManipulatorsIndustrialrobot试题试题38.CartesianrobotforloadinganTranslatorytypejointRotarytypejoint(revolutejoint,Hingejoint)SerialrobotsManipulatorsIndustrialrobot39.TranslatorytypejointSerialrTranslatorytypejointRotarytypejointSerialrobotsManipulatorsIndustrialrobot40.TranslatorytypejointSerialr6DOFrobotsRotarytypejointSerialrobotsManipulatorsIndustrialrobot41.6DOFrobotsRotarytypejointSeSerialrobotsTranslatorytypejointRotarytypejointManipulatorsIndustrialrobot42.SerialrobotsTranslatorytypeSCARArobotsSerialrobotsTranslatorytypejointRotarytypejointManipulatorsIndustrialrobot43.SCARArobotsSerialrobotsTransManipulatorsParallelrobotsCustomizationmanipulatorSpecialmanipulatorIndustrialrobot试题试题44.ManipulatorsParallelrobotsCus45RobotwithopticsandservoIndustrialrobot45.45Robotwithopticsandservo46DualarmorMultiarmcoordinationIndustrialrobot46.46DualarmorMultiarmcoordi47EMG-orEEG-controlRemote-controlIndustrialrobot47.47EMG-orEEG-controlIndustriFixedbaseFloatbaseExpandingtheareaofworkandflexibleabilityMobilemanipulatorIndustrialrobot48.FixedbaseExpandingthearea工业机械臂的主要技术参数nDegreeoffreedom(DOF)自由度nAccuracy精度Positioningaccuracy定位精度Repeatpositionaccuracy重复定位精度nWorkspace工作范围nMaxspeedofoperation最大工作速度nLoadingcapacity承载能力试题试题49.工业机械臂的主要技术参数Degreeoffreedom(当前工业机械臂面临的问题n提高移动工业机器人的定位精度定位精度提高视觉感知视觉感知能力（vision）n提高机械臂的载重比载重比（Loadtoweightratio）结构轻量化（Light-weightdesign）采用液压驱动（Hydraulicdrive）n提高工业机器人人-机协作的安全性安全性提高运动控制的实时性实时性提高运动力感知力感知能力（Force）缺少感知系统缺少感知系统Lackofperception缺乏灵巧性（灵巧操作）缺乏灵巧性（灵巧操作）Lackofflexibility(dexterouswork)结构化工作环境结构化工作环境Structureworkingenvironment固定工作流程固定工作流程Fixworkingprocedure50.当前工业机械臂面临的问题提高移动工业机器人的定位精度缺少感知机械臂类型机械臂类型自由度自由度最大工作最大工作范围范围(mm)重量重量(kg)载荷载荷(kg)载重比载重比重复重复精度精度(mm)末端速度末端速度(m/s)柔柔顺顺性性Barret710002540.160.103.00NoKR Agilus 6 R700 67065060.120.032.00NoLWA Powerball670012.560.480.06NoLWA PA10793035100.2860.101.55NoSIA5F 75593050.1670.06NoVS-6577G-B68543670.1940.038.20NoLBR iiwa 7R800780022.370.3140.10YesUR5685018.450.2720.101.00YesDLR LWRIII7936147(14)0.5(1)0.5NoATLAS7167573250(500)3.425(6.849)NoKUKA KR 700 PA4332028507000.2460.08NoFANUCM-900iB/7006283228007000.250.3NoFANUC LR Mate 200iD67172570.280.02No51.机械臂类型自由度最大工作重量载荷载重比重复末端速度柔Barrclosetotheapproximately1:1ratioofhumanarmsatatipvelocityof6m/sDLRLWRIII52.closetotheapproximately1:1SchillingRoboticsATLAS7RManipulator53.SchillingRoboticsATLAS7RMaStructuretopologyoptimization54.StructuretopologyoptimizatioStructuretopologyoptimizationMeshofStructuralProblemforPrimaryArmOptimizationforPrimaryArmResultofOptimizationforPrimaryArm55.StructuretopologyoptimizatioStructuretopologyoptimizationMeshofStructuralProblemforPrimaryArmRibsResultofOptimizationforPrimaryArmRibsStructuralProblemDefinitionforPrimaryArmRibs56.StructuretopologyoptimizatioStructuretopologyoptimizationFinalShapeofPrimaryArm57.StructuretopologyoptimizatioStructuretopologyoptimizationResultofOptimizationforSecondaryArmOptimizationforSecondaryArmMeshSecondaryArmStructuralProblemDefinitionforSecondaryArm58.StructuretopologyoptimizatioStructuretopologyoptimizationFinalShapeofSecondaryArm59.StructuretopologyoptimizatioTypes of RobotsnIndustrialrobotRoboticmanipulator(arm)End-effectorAutomaticGuidedVehicles(AGVs)nNationaldefenseandpublicsafetyrobotAerospace、Undersea、TerrainrobotRescuerobotnPeopleslivelihoodscienceandtechnologyrobotEducational,EntertainmentandDomesticrobotEmotionalrobotandRoboticpetMedicalrehabilitationrobot60.TypesofRobotsIndustrialrobon nMechanicalhandMechanicalhandTwo-fingeredgripperTwo-fingeredgripperMulti-fingeredhandMulti-fingeredhandn nSpecialisedtoolsSpecialisedtoolsEnd-effectorIndustrialrobotEnd-effectorIndustrialrobotInrobotics,anend-effectoristhedeviceattheendofaroboticarm,designedtointeractwiththeenvironment.End-effectorsmayconsistofagripperoratool.Thegrippercanbeoftwofingers,threefingersorevenfivefingers.试题试题61.MechanicalhandEnd-effectorIndEnd-effectorIndustrialrobotEnd-effectorIndustrialrobotMechanicalhandAnglegripperstrictstrictrequirementsrequirementsonthesizeonthesizeMechanicalhandTwo-fingeredgripperTwo-fingeredgripper62.End-effectorIndustrialrobotEnEnd-effectorIndustrialrobotEnd-effectorIndustrialrobotMechanicalhandMechanicalhandTwo-fingeredgripperTwo-fingeredgripperAngle-parallelgripper63.End-effectorIndustrialrobotEnEnd-effectorIndustrialrobotEnd-effectorIndustrialrobotMechanicalhandMechanicalhandParallelgripperTwo-fingeredgripperTwo-fingeredgripper64.End-effectorIndustrialrobotEnEnd-effectorIndustrialrobotEnd-effectorIndustrialrobotMulti-fingeredhandMulti-fingeredhand65.End-effectorIndustrialrobotEnEnd-effectorEnd-effectorIndustrialrobotMechanicalhandMechanicalhand66.End-effectorEnd-effectorIndustMulti-fingeredhand67.Multi-fingeredhand67.End-effectorIndustrialrobotEnd-effectorIndustrialrobotMulti-fingeredhandMulti-fingeredhand68.End-effectorIndustrialrobotEnEnd-effectorIndustrialrobotEnd-effectorIndustrialrobotNon-fingeredhandNon-fingeredhand69.End-effectorIndustrialrobotEnEnd-effectorEnd-effectorIndustrialrobot70.End-effectorEnd-effectorIndustEnd-effectorIndustrialrobotEnd-effectorIndustrialrobotSpecialisedtoolsDebarringtoolGrindingwheelGas-cuttingtorchWeldingelectrodePaintbrushInflatabletoolElectromagneticadsorptiontoolVacuumgrip试题试题71.End-effectorIndustrialrobotEnLoadingandunloadingwithvariousbulgy,floppy,dispersive,rough-and-tumblematerialsIndustrialrobot72.LoadingandunloadingwithvarLoadingandunloadingwithvariousbulgy,floppy,dispersive,rough-and-tumblematerialsEnd-effector73.LoadingandunloadingEnd-effe74.74.75.75.ToolChangersTheRoboticToolChangersincreaseflexibilityandproductivity.Itprovidestheflexibilitytoautomaticallychangeend-effectorsorotherperipheraltooling.Thesetoolchangersaredesignedtofunctionreliablyformillionsofcyclesatratedloadwhilemaintainingextremelyhighrepeatability.换枪盘换枪盘End-effectorIndustrialrobotEnd-effectorIndustrialrobot76.ToolChangersTheRoboticToolToolChangersEnd-effectorIndustrialrobotEnd-effectorIndustrialrobotAnend-effectorwithtwomatingparts,aMaster-sideandaTool-sidethathavebeendesignedtolockorcoupletogetherautomatically,carryapayload,andhavetheabilitytopassutilitiessuchaselectricalsignals,pneumatic,water,etc.MostrobotcouplersusepneumaticstolocktheMaster-andTool-sidestogether.TheRobotToolChangerprovidestheflexibilityforanyautomatedprocesstochangetoolsandpassvariousutilities.TheMaster-sideoftheToolChangermountstoarobot,CNCmachine,orotherstructure.TheTool-sideoftheToolChangermountstotooling,suchasgrippers,welders,ordeburringtools.ARobotToolChangerisalsoknownasaQuick-Changedevice(QC),anautomatictoolchanger(ATC),robottoolchanger,robotcoupler,roboticcoupler,orroboticconnector.WhatisaRoboticToolChanger?77.ToolChangersEnd-effectorIndus78.78.AttachmentQuickCouplerEnd-effectorIndustrialrobotEnd-effectorIndustrialrobot79.AttachmentQuickCouplerEnd-eAttachmentQuickCouplerEnd-effectorEnd-effectorIndustrialrobot80.AttachmentQuickCouplerEnd-eAttachmentQuickCouplerEnd-effectorIndustrialrobotEnd-effector81.AttachmentQuickCouplerEnd-eTypes of RobotsnIndustrialrobotRoboticmanipulator(arm)End-effectorAutomaticGuidedVehicles(AGVs)nNationaldefenseandpublicsafetyrobotAerospace、Undersea、TerrainrobotRescuerobotnPeopleslivelihoodscienceandtechnologyrobotEducational,EntertainmentandDomesticrobotEmotionalrobotandRoboticpetMedicalrehabilitationrobot82.TypesofRobotsIndustrialroboAGVsformaterialhandlingIndustrialrobotWire-guidedAGVsAutonomousAGVsOmnidirectionalAGVsMecanumwheel2DOF3DOF83.AGVsformaterialhandlingInduAGVsIndustrialrobot84.AGVsIndustrialrobot84.AGVsMulti-AGVscooperationIndustrialrobot85.AGVsMulti-AGVscooperationIndAGVsIndustrialrobotMulti-AGVscooperation86.AGVsIndustrialrobotMulti-AGVsOmnidirectionalmobilemanipulators87.OmnidirectionalmobilemanipulIndustrialrobotOmnidirectionalmobilemanipulators88.IndustrialrobotOmnidirectionaIndustrialrobotWhat is the next generation industrial robot?试题试题89.IndustrialrobotWhatistheneDefinitionThe next generation of robots will work closely with human operators:allowing new ability for factory workers,healthcare providers,soldiers,surgeons and astronauts to carry out key hard-to-do tasks.试题试题NewGenerationRobots机器人两大机器人两大属性属性Twopropertiesofrobot机器属性机器属性machineproperty人的属性人的属性Humanproperty传统机器人传统机器人Traditionalrobots新一代机器人新一代机器人Newgenerationofrobots“机器机器”向向“人人”转变的转变的转折点转折点Turningpointfromrobottohuman“软软”时代到来时代到来Softtimecoming90.DefinitionThenextgeneration试题试题NewGenerationRobots人机无法高效交流人机无法高效交流Manandmachinecannotcommunicateeffectively缺乏本质安全性缺乏本质安全性Lackofintrinsicsafety在线感知能力远低于人在线感知能力远低于人Onlineperceptionabilityisfarlowerthanpeople无法接受抽象命令无法接受抽象命令Unabletoreceiveabstractcommand操作灵活性无法与人配合操作灵活性无法与人配合Operationflexibilitycannotmatchuppeople人机无法人机无法共融作业共融作业Humanandmachinecannotworkincommunion91.试题NewGenerationRobots人机无法高效交试题试题复杂环境技术复杂环境技术Technologyincomplexenvironment共融作业技术共融作业技术Communionworktechnology任务与决策技术任务与决策技术Taskanddecisiontechnology交互技术交互技术Interactiveability决策能力决策能力Decisionmakingability交互能力交互能力Interactiveability如何实现机器人对非人工环境的如何实现机器人对非人工环境的高效、精确感知和适应？高效、精确感知和适应？Howtoachieveefficientandaccurateperceptionandadaptiveofrobotstononartificialenvironment?作业能力作业能力Operatingability如何建立人机和谐共存的行为方如何建立人机和谐共存的行为方式与安全机制？式与安全机制？Howtobuildaharmoniousco-existencebehaviorandsafetymechanismofhumanandmachine?如何实现复杂环境下完成复杂任如何实现复杂环境下完成复杂任务及智能决策？务及智能决策？Howtoaccomplishcomplextasksandintelligentdecisionincomplexenvironment?如何实现机器人之间、机器人如何实现机器人之间、机器人与人之间的自然交互？与人之间的自然交互？Howtorealizethenaturalinteractionbetweenrobots,robotsandhuman?NewGenerationRobots92.试题复杂环境技术共融作业技术任务与决策技术交互技术决策能力交试题试题复杂环境技术复杂环境技术Technologyincomplexenvironment如何实现机器人对非人工环境的高效、精确感知和适应？如何实现机器人对非人工环境的高效、精确感知和适应？Howtoachieveefficientandaccurateperceptionandadaptiveofrobotst