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英文翻譯
機(jī)器人技術(shù)進(jìn)展
譚民 王碩
摘要 機(jī)器人技術(shù)的研究己從傳統(tǒng)的工業(yè)領(lǐng)域擴(kuò)展到醫(yī)療服務(wù)、教育娛樂、勘探勘測、生物工程、救災(zāi)救援等新領(lǐng)域，并快速發(fā)展。本文簡要介紹了工業(yè)機(jī)器人、移動機(jī)器人、醫(yī)療與康復(fù)機(jī)器人和仿生機(jī)器人研究中的部分主要進(jìn)展，并通過分析和梳理，歸納了機(jī)器人技術(shù)發(fā)展中的些重要問題，探討機(jī)器人技術(shù)的發(fā)展趨勢。
關(guān)鍵詞 工業(yè)機(jī)器人，移動機(jī)器人，醫(yī)療機(jī)器人，康復(fù)機(jī)器人，仿生機(jī)器人
21世紀(jì)以來，國內(nèi)外對機(jī)器人技術(shù)的發(fā)展越來越重視。機(jī)器人技術(shù)被認(rèn)為是對未來新興產(chǎn)業(yè)發(fā)展具有重要意義的高技術(shù)之一。l歐盟在第七框架計(jì)劃(FP7)中規(guī)劃了“認(rèn)知系統(tǒng)與機(jī)器人技術(shù)”研究、美國啟動了“美國國家機(jī)器人計(jì)劃”、日本、韓國在服務(wù)型機(jī)器人方面也制定了相應(yīng)的研究計(jì)劃，我國在國家高技術(shù)研究發(fā)展計(jì)劃(863計(jì)劃)、國家自然科學(xué)基金、國家科技重大專項(xiàng)等規(guī)劃中對機(jī)器人技術(shù)研究給予極大的重視。國內(nèi)外產(chǎn)業(yè)界對機(jī)器人技術(shù)引領(lǐng)未來產(chǎn)業(yè)發(fā)展也寄予厚望。由此可見，機(jī)器人技術(shù)是未來高技術(shù)、新興產(chǎn)業(yè)發(fā)展的基礎(chǔ)之一，對于國民經(jīng)濟(jì)和國防建設(shè)具有重要意義。
近些年來，機(jī)器人技術(shù)研究和應(yīng)用取得了突出的進(jìn)展，但仍面臨著巨大挑戰(zhàn)。本文章對近年來國內(nèi)外機(jī)器人領(lǐng)域的一些主要研究展進(jìn)行介紹，并以此為基礎(chǔ)，通過分析和梳理，探討機(jī)器人技術(shù)研究中的難點(diǎn)和熱點(diǎn)，以及可能的發(fā)展趨勢。
1 機(jī)器人技術(shù)研究主要進(jìn)展
在計(jì)算機(jī)技術(shù)、網(wǎng)絡(luò)技術(shù)、MEMS技術(shù)等新技術(shù)發(fā)展的推動下，機(jī)器人技術(shù)正從傳統(tǒng)的工業(yè)制造領(lǐng)域向醫(yī)療服務(wù)、教育娛樂、勘探勘測、生物工程、救災(zāi)救援等領(lǐng)域迅速擴(kuò)展，適應(yīng)不同領(lǐng)域需求的機(jī)器人系統(tǒng)被深入研究和開發(fā)。機(jī)器人技術(shù)所涉及的應(yīng)用領(lǐng)域眾多，本文僅選取工業(yè)機(jī)器人、移動機(jī)器人、醫(yī)療與康復(fù)機(jī)器人和仿生機(jī)器人領(lǐng)域中的部分典型研究工作進(jìn)行介紹和分析。
1.1 工業(yè)機(jī)器人
工業(yè)機(jī)器人己廣泛應(yīng)用于汽車工業(yè)的點(diǎn)焊、弧焊、噴漆、熱處理、搬運(yùn)、裝配、上下料、檢測等作業(yè)。在物流、碼垛、食品和藥品等領(lǐng)域，工業(yè)機(jī)器人正逐步代替人工從事繁重枯燥的包裝、碼垛、搬運(yùn)作業(yè)。工業(yè)機(jī)器人研究的運(yùn)動學(xué)標(biāo)定、運(yùn)動規(guī)劃、控制等己有成熟的控制方案。但由于工業(yè)機(jī)器人是一個(gè)非線性、多變量的控制對象，而制造業(yè)也對機(jī)器人性能提出新需求，機(jī)器人的控制方法仍是研究重點(diǎn)，工業(yè)機(jī)器人技術(shù)也朝著智能化、重載、高精度、高速、網(wǎng)絡(luò)化等方向發(fā)展。結(jié)合位置、力矩、力、視覺等信息反饋，柔順控制、力位混合控制、視覺伺服控制等方法得到大量研究，以適應(yīng)高速、高精度、智能化作業(yè)的需求。利用網(wǎng)絡(luò)技術(shù)，工業(yè)機(jī)器人不僅簡化了系統(tǒng)結(jié)構(gòu)，同時(shí)也實(shí)現(xiàn)了協(xié)同作業(yè)。例如，F(xiàn)ANUC公司的并聯(lián)六軸結(jié)構(gòu)的機(jī)器人3iA具有很高的柔性，集成iRVision視覺系統(tǒng)、Force Sensing力覺系統(tǒng)、Robot Link通信系統(tǒng)和Collision Guard碰撞保打‘系統(tǒng)等多個(gè)智能功能，可對工件進(jìn)行快速識別，利用視覺跟蹤系統(tǒng)引導(dǎo)完成作業(yè)。在工業(yè)機(jī)器人研究中，國內(nèi)很多大學(xué)和研究機(jī)構(gòu)，如哈爾濱工業(yè)大學(xué)、中國科學(xué)院沈陽自動化研究所、中國科學(xué)院自動化研究所、清華大學(xué)、北京航空航天大學(xué)、上海交通大學(xué)、天津大學(xué)、南開大學(xué)、華南理工大學(xué)、湖南大學(xué)、上海大學(xué)等，開展了大量工作，在機(jī)構(gòu)、驅(qū)動和控制等方面取得了豐富成果，為國內(nèi)機(jī)器人產(chǎn)業(yè)的發(fā)展奠定了技術(shù)基礎(chǔ)。而隨著國內(nèi)工業(yè)機(jī)器人的需求越來越迫切，沈陽新松機(jī)器人自動化公司、哈爾濱工業(yè)大學(xué)博實(shí)公司、廣州數(shù)控設(shè)備有限公司、上海沃迪公司、奇瑞公司等企業(yè)在工業(yè)機(jī)器人產(chǎn)業(yè)方面也不斷發(fā)展壯大。
1.2 移動機(jī)器人
移動機(jī)器人的應(yīng)用廣泛，覆蓋了地面、空中和水下，乃至外太空。下面簡要介紹地面移動機(jī)器人中的輪式/履帶式、腿足式和仿人形機(jī)器人，以及水下機(jī)器人和爬行機(jī)器人的一些研究進(jìn)展。由于外星探索機(jī)器人工作環(huán)境特殊，因此也對其研究現(xiàn)狀進(jìn)行簡要介紹。
1.3 醫(yī)療與康復(fù)機(jī)器人
外科乎術(shù)機(jī)器人系統(tǒng)可分為3類:監(jiān)控型、遙操作型和協(xié)作型。監(jiān)控型是由外科醫(yī)生針對病人制定治療程序，在醫(yī)生監(jiān)控下由機(jī)器人完成乎術(shù)。遙操作型是由外科醫(yī)生操縱控制乎柄來遙控機(jī)器人完成乎術(shù)。協(xié)作型主要用于穩(wěn)定外科醫(yī)生使用的器械以便于完成高穩(wěn)定性、高級度的外科乎術(shù)。第一例機(jī)器人輔助外科乎術(shù)是由Kwoh等在1985年完成，利用工業(yè)機(jī)器人將固定裝置穩(wěn)定保持在患者頭部附近以便于神經(jīng)外科乎術(shù)的鉆孔和將組織取樣針插入指定位置。此后，用于輔助外科乎術(shù)的機(jī)器人系統(tǒng)Probot、ROBODOC、AESOP、da Vinci, Zeus相繼開發(fā)并獲得應(yīng)用?；谔摂M現(xiàn)實(shí)和機(jī)器人結(jié)合的遠(yuǎn)程外科乎術(shù)技術(shù)也得到重視和研究。日前，daVinci外科乎術(shù)輔助機(jī)器人是其中比較成功的商用系統(tǒng)，獲得美國FDA認(rèn)證，可用于多種外科乎術(shù)。da Vinci系統(tǒng)是一個(gè)主從結(jié)構(gòu)的系統(tǒng)，醫(yī)生通過攝像頭傳回的圖像獲取乎術(shù)部位信息，依靠踏板控制攝像頭和乎術(shù)器械、依靠主控乎柄遙控機(jī)器臂動作來完成外科乎術(shù)。此外，Hansen Medical公司的血管介入手術(shù)機(jī)器人使用了觸覺主控制器、臂式從動系統(tǒng)和送竹機(jī)構(gòu)。Mazor公司開發(fā)的脊柱外科乎術(shù)機(jī)器人系統(tǒng)己完成多例骨科乎術(shù)。Acrobot公司研制的高精度外科乎術(shù)機(jī)器人完成了膝關(guān)節(jié)外科乎術(shù)。約翰霍普金斯大學(xué)研制了眼科外科乎術(shù)輔助機(jī)器人系統(tǒng)。
國內(nèi)在外科乎術(shù)機(jī)器人領(lǐng)域的研究工作也發(fā)展迅速。北京航空航天大學(xué)與海軍總醫(yī)院合作研制開發(fā)了腦外科機(jī)器人系統(tǒng)，并完成了多例腦外科立體定向遠(yuǎn)程遙操作乎術(shù) 。與北京積水潭醫(yī)院聯(lián)合研制了骨科乎術(shù)機(jī)器人系統(tǒng)，并完成了長骨骨折髓內(nèi)釗一內(nèi)固定遠(yuǎn)程遙操作乎術(shù):與海軍總醫(yī)院、北京醫(yī)院合作研制了心血竹介入乎術(shù)機(jī)器人。天津大學(xué)研制了主從式遙操作結(jié)構(gòu)、具有二維力傳感器的顯微外科乎術(shù)機(jī)器人，并成功地完成了動物實(shí)驗(yàn)。中國科學(xué)院自動化研究所與上海胸科醫(yī)院等單位合作研制了血管介入乎術(shù)機(jī)器人，并完成多例動物實(shí)驗(yàn)。哈爾濱工業(yè)大學(xué)、北京理工大學(xué)、上海交通大學(xué)等也開展了不同類型醫(yī)療乎術(shù)機(jī)器人系統(tǒng)的研究并開發(fā)了機(jī)器人系統(tǒng)。
1.4 生物啟發(fā)的機(jī)器人系統(tǒng)一仿生機(jī)器人
隨著機(jī)器人應(yīng)用從工業(yè)領(lǐng)域向社會服務(wù)、環(huán)境勘測等領(lǐng)域的擴(kuò)展，機(jī)器人的作業(yè)環(huán)境從簡單、固定、可預(yù)知的結(jié)構(gòu)化環(huán)境變?yōu)閺?fù)雜、動態(tài)、不確定的非結(jié)構(gòu)化環(huán)境，這就要求機(jī)器人研究在結(jié)構(gòu)、感知、控制、智能等方面給出新方法以適應(yīng)新環(huán)境、新任務(wù)、新需求。因此，很多學(xué)者從自然界尋找靈感，從而提出解決新問題的新方法。通過對生物結(jié)構(gòu)和運(yùn)動方式進(jìn)行仿生是研究適應(yīng)某種特定環(huán)境的機(jī)器人系統(tǒng)的基本方法之一，如皮膚仿生、攀爬運(yùn)動仿生等。
由于魚類運(yùn)動的高效率、高機(jī)動、低噪聲特點(diǎn)，仿生魚類運(yùn)動方式的仿生機(jī)器魚研究得到廣泛的重視。針對不同類型仿生魚鰭的設(shè)計(jì)、建模和控制己開展了很多研究工作，如MIT大學(xué)研制了機(jī)器魚RoboTuna和RoboPike，大阪大學(xué)研制了胸鰭推進(jìn)的機(jī)器魚B1ackBass，英國Heriot-Wat七大學(xué)研究了波動鰭。華盛頓大學(xué)、英國Essex大學(xué)在控制方面，佛羅單達(dá)中心大學(xué)、日本名占屋大學(xué)、美國新墨西哥大學(xué)在微小型機(jī)器魚方面，美國西北大大學(xué)、南洋理工大學(xué)、大阪大學(xué)在波動鰭推進(jìn)方面都取得了很好的研究成果。國內(nèi)在仿魚水下機(jī)器人研究方面也開展了大量工作。北京航空航天大學(xué)研制了SPC系列仿生機(jī)器魚系統(tǒng)，進(jìn)行了湖試和海試，完成了水下考占、環(huán)境監(jiān)控等示范應(yīng)用，其中SPC-3UUV體長1.6 m，巡航速度1.12m/s，航程70.7 km。中國科學(xué)院自動化研究所研制了尾鰭推進(jìn)和波動鰭推進(jìn)的仿生機(jī)器魚，實(shí)現(xiàn)了浮潛、倒游、定深、自主避障、快速啟動、水平面和垂直面快速轉(zhuǎn)向、多魚協(xié)調(diào)等運(yùn)動控制的實(shí)驗(yàn)驗(yàn)證，并實(shí)現(xiàn)了仿生機(jī)器海豚的躍水運(yùn)動。國防科技大學(xué)在波動鰭仿生機(jī)器魚方面開展大量研究，研制了多種波動鰭推進(jìn)的機(jī)器魚系統(tǒng)。哈爾濱工程大學(xué)、哈爾濱工業(yè)大學(xué)、中國科學(xué)技術(shù)大學(xué)、北京大學(xué)等單位也研制開發(fā)了仿生機(jī)器魚系統(tǒng)并開展了很多研究工作。
2 機(jī)器人技術(shù)發(fā)展趨勢
通過分析己有的機(jī)器人技術(shù)研究工作，機(jī)器人技術(shù)的應(yīng)用和研究顯現(xiàn)出從工業(yè)領(lǐng)域快速向其他領(lǐng)域延仲擴(kuò)展。而傳統(tǒng)工業(yè)領(lǐng)域?qū)ψ鳂I(yè)性能提升的需求、其他領(lǐng)域的新需求，極大促進(jìn)了機(jī)器人理論與技術(shù)的進(jìn)一步發(fā)展。
在工業(yè)領(lǐng)域，工業(yè)機(jī)器人的應(yīng)用己不再僅限于簡單的動作重復(fù)。對于復(fù)雜作業(yè)需求，工業(yè)機(jī)器人的智能化、群體防調(diào)作業(yè)成為解決問題的關(guān)鍵:對于高速度、高精度、重載荷的作業(yè)，工業(yè)機(jī)器人的動力學(xué)、運(yùn)動學(xué)標(biāo)定、力控制還有待深入研究:而機(jī)器人和操作員在重疊的工作空間合作作業(yè)問題，則對機(jī)器人結(jié)構(gòu)設(shè)計(jì)、感知、控制等研究提出了確保人機(jī)共同作業(yè)安全的新要求。
在工業(yè)領(lǐng)域以外，機(jī)器人在醫(yī)療服務(wù)、野外勘測、深空深海探測、家庭服務(wù)和智能交通等領(lǐng)域都有廣泛的應(yīng)用前景。在這些領(lǐng)域，機(jī)器人需要在動態(tài)、未知、非結(jié)構(gòu)化的復(fù)雜環(huán)境完成不同類型的作業(yè)任務(wù)，這就對機(jī)器人的環(huán)境適應(yīng)性、環(huán)境感知、自主控制、人機(jī)交互提出了更高的要求。
1)環(huán)境適應(yīng)性。機(jī)器人的工作環(huán)境可以是室內(nèi)、室外、火山、深海、太空，乃至地外星球，其復(fù)雜的地面或地形、不同的氣壓變化、巨大的溫度變化、不同的輻照、不同的重力條件導(dǎo)致機(jī)器人的機(jī)構(gòu)設(shè)計(jì)和控制方法必須進(jìn)行針對性、適應(yīng)性的設(shè)計(jì)。通過仿生乎段研究具有時(shí)示、奔跑、跳躍、爬行、游動等不同運(yùn)動能力的、適應(yīng)不同環(huán)境條件的機(jī)器人機(jī)構(gòu)和控制方法對于提高機(jī)器人的環(huán)境適應(yīng)性具有重要的理論價(jià)值。
2)環(huán)境感知。面對動態(tài)變化、未知、復(fù)雜的外部環(huán)境，機(jī)器人對環(huán)境的準(zhǔn)確感知是進(jìn)行決策和控制的基礎(chǔ)。感知信息的融合、環(huán)境建模、環(huán)境理解、學(xué)習(xí)機(jī)制是環(huán)境感知研究的重要內(nèi)容。
3)自主控制。面對動態(tài)變化的外部環(huán)境，機(jī)器人必須依據(jù)既定作業(yè)任務(wù)和環(huán)境感知結(jié)果利用內(nèi)建算法進(jìn)行規(guī)劃、決策和控制，以達(dá)到最終日標(biāo)。在無人十預(yù)或大延時(shí)無法人為十預(yù)的情況下，自主控制可以確保機(jī)器人規(guī)避危險(xiǎn)、完成既定任務(wù)。
4)人機(jī)交互。對于提升機(jī)器人作業(yè)能力、滿足復(fù)雜的作業(yè)任務(wù)需求具有重要作用。實(shí)時(shí)作業(yè)環(huán)境的二維建模，聲覺、視覺、力覺、觸覺等多種人機(jī)交互的實(shí)現(xiàn)方式、人機(jī)交互中的安全控制等都是人機(jī)交互中的重要研究內(nèi)容。
針對上述問題的研究，通過與仿生學(xué)、神經(jīng)科學(xué)、腦科學(xué)，以及互聯(lián)網(wǎng)技術(shù)的結(jié)合，可能將加速機(jī)器人理論、方法和技術(shù)研究工作的進(jìn)展。
機(jī)器人技術(shù)與仿生學(xué)的結(jié)合，不僅可以促進(jìn)高適應(yīng)性的機(jī)器人結(jié)構(gòu)設(shè)計(jì)方法的研究，對于機(jī)器人的感知、控制與決策方法的研究也能夠提供有力的支持。
機(jī)器人學(xué)與神經(jīng)科學(xué)、腦科學(xué)的結(jié)合，將使得人一機(jī)器人間的應(yīng)用接日更加方便，通過神經(jīng)信號控制智能假肢、外骨骼機(jī)器人或遠(yuǎn)程遙操控機(jī)器人系統(tǒng)，利用生物細(xì)胞來提升機(jī)器人的智能，為機(jī)器人研究提供了新的思路。
機(jī)器人學(xué)與互聯(lián)網(wǎng)技術(shù)的結(jié)合，使機(jī)器人可以通過互聯(lián)網(wǎng)獲取海量的知識，基于云計(jì)算、智能空間等技術(shù)輔助機(jī)器人的感知和決策，將極大提升機(jī)器人的系統(tǒng)性能。
3 結(jié)論
機(jī)器人技術(shù)的研究和應(yīng)用己從傳統(tǒng)的工業(yè)領(lǐng)域快速擴(kuò)展到其他領(lǐng)域，如醫(yī)療康復(fù)、家政服務(wù)、外星探索、勘測勘探等。而無論是傳統(tǒng)的工業(yè)領(lǐng)域還是其他領(lǐng)域，對機(jī)器人性能要求的不斷提高，使機(jī)器人必須面對更極端的環(huán)境、完成更復(fù)雜的任務(wù)，因而，也為機(jī)器人研究提供了新的動力。在概述工業(yè)機(jī)器人、移動機(jī)器人、醫(yī)療康復(fù)機(jī)器人和仿生機(jī)器人的主要研究進(jìn)展基礎(chǔ)上，分析歸納了環(huán)境適應(yīng)性、感知、自主控制、人機(jī)交互等機(jī)器人研究的主要問題，并探討了仿生學(xué)、神經(jīng)科學(xué)、互聯(lián)網(wǎng)等研究與機(jī)器人研究相結(jié)合的趨勢。
Research Progress on Robotics
TAN Minl WANG Shuo
Abstract The researches of robot technology are moving from the traditional industry to medical service, education and entertainment,exploration and exploitation,
bio-engineering, rescue,etc., and the related technology develops rapidly. In this paper, some important progresses in industrial robots, mobile robots,medicaland rehabilitation robots and biomimetic robots are introduced in brief, and some important issues of robot technology are summarized by means of analysis and classification. Finally, the trends in robot technology are discussed.
Key words Industrial robot, mobile robot, medical robot, rehabilitation robot, biomimetic robot
Since twenty-first Century,?the development?of?robot technology?at home and abroad?more and?more attention.?Robot?technology is considered as one of the?high?technology is of great significance to?the future?development of emerging industries.?L European Union?within the seventh Framework Programme?(FP7)?in?planning a?"cognitive systems and roboticstechnology"?research,?America?launched the?"America?national robot program",?Japan,?South Korea in the?service robot?also?made corresponding?research plan,?our country in the?national high technology research and development program?(863 Program),?give great?attach importance to the study of?robot technology?of National Natural Science Foundation,?the national science and technology major projects?such as?planning.Domestic and foreign industry?robot technology?leading the future?industrial development?ofhigh hopes.?Thus,?the robot?technology is one of the?basis for the future development?of hightechnology,?new industries,?it has important significance to the?national economy and?national defense construction.
In recent years,?the research and application of robot?technology?has made outstandingprogress,?but still?faces huge challenges.?This article?in recent years some of?the main research?field of robot?exhibition?at home and abroad?are introduced,?and on this basis,through the analysis and?carding,?discussion of?the difficult and hot research?in robotics,?and the possible?development trend.
1 major advances in?robotics research
In?promoting the development of new?technology,?computer technology,?network technology,MEMS technology?and so on,?the robot technology is?service,?from the traditional?industrial manufacturing field?to medical?education and entertainment,?exploration and?survey,?biological engineering,?disaster?relief and other fields?expanded rapidly,?to adapt to the?robot systemneeds of different areas?to be?further research and development.?Application of roboticstechnology involved?many,?this article only selects?some typical?research work of industrialrobot,?mobile robot,?medical?and rehabilitation?robot?and bionic?robot?in the field?were introduced and analyzed.
1.1 industrial robot
Industrial robots?have been widely used?in the automotive industry?for spot,?welding,?painting,heat treatment,?handling,?assembly,?loading and unloading,?detection?and other operations.?In logistics,?palletizing,?food?and?medicine and other fields,?industrial robots are?graduallyreplacing manual?engaged in heavy?boring?packing,?palletizing,?handling.?Industrial robot kinematics?research?of calibration,?motion planning?and?control?has been?mature?controlscheme.?But because of?the industrial robot?control is?a?nonlinear,?multi variable,?while the manufacturing industry also?put new demands?on the?performance of the robot,?robot control method?is still the?focus of study,?the industrial robot technology?is?toward intelligent,?heavy load,?high precision,?high speed,?network?development direction.?Combining position,?torque,power,?visual?feedback,?flexible control,?force?control,?hybrid?visual servoing control?method?to obtain a great deal of?research,?in order to adapt to the?high speed,?high precision,?intelligentoperation needs.?The use of network technology,?the industrial robot?not only simplifies thestructure of the system,?but also to achieve a?coordinated operation.?For example,?FANUC company?six parallel?shaft?structure of the?3iA robot?has high flexibility,?integrated?vision system of iRVision,?Force?Sensing?Robot?Link?force?system,?communication?system and Collision?Guard collision?insurance?play?'system?more intelligent?functions,?can be?fast recognition of?workpiece,?using a visual?tracking system?to guide the?homework.?In the industrial?robot research,?many domestic?university?and research institutes,?such as Harbin Institute of Technology,?China?Academy of Sciences,?Shenyang Institute of automationChinese?Automation Science Research?Institute,?Tsinghua University,?Beihang University,Shanghai Jiao Tong University,?Tianjin University,?Nankai University,?South China University of Technology,?Hunan University,?Shanghai Univer,?carried out a lot of work,?in the?mechanism,driving?and?control?and achieved rich?results,?establishes the technical foundation for?the development of the domestic?robot industry.?But along with the?domestic demand for industrialrobot?is more and more urgent,?Shenyang SIASUN Robot & automation?company,?Harbin Institute of Technology?Boshi?company,?Guangzhou CNC Equipment?Co. Ltd.,?Shanghai Triowin?Corporation,?Chery?companies and other enterprises?in the?industry of industrial robots?also?continue to grow and develop.
1.2 mobile robot
Application of mobile?robots?are widely,?covering the ground,?air and water,?and even?outer space.?Below is a brief description?of wheel?/?ground?mobile robot?crawler,?leg and foot?typeand humanoid robots,?and?some research progress of?underwater robot and?dagger?for?robot.Due to?the special working environment?of extraterrestrial?exploration?robot,?therefore?carries on the brief introduction to?the?research status.
1.3 medical?and rehabilitation?robot
Surgical?operation?robot?on?system?can be divided into 3 categories:?control,?teleoperationand collaboration.?Monitoring?by?surgeons?for patient?to formulate treatment?program,?indoctor?under the supervision?on?operation?performed by the robot.?Teleoperation?type?ismanipulated by the surgeon?on the?handle?to control the?robot to finish the?control?onoperation.?Collaboration?is mainly used for?stable?surgeons use the?equipment?complete surgical?operation?between?senior?high degree of?stability,?to facilitate the.?The first case ofrobot assisted?surgery?on?operation?is completed by the Kwoh?in?1985,?the use of?industrial robots will?maintain the stability of?borehole?in patients with?fixing device?near the head?to facilitate?Department of Neurosurgery?surgery?and?tissue sampling?on?the?needle into?the specified location.?Since then,?the?robot?assisted surgery?on?surgery?for?system Probot,ROBODOC,?AESOP,?Da,?Vinci,?Zeus?have been?developed and applied.?Also?get attentionand Research?on?remote?surgery?operation?technology of virtual reality and?robot?based on.Recently,?daVinci?surgery?robot assisted?surgery?is?almost?commercial?system in which arelatively successful,?American FDA certification,?can be used for a variety of?surgicaloperation?on.?Da?Vinci?system is?a master-slave?structure,?image doctor?through the camerareturns?to obtain information?on?operation?site,?rely on the?pedal to control the?camera and?on the?operation of?equipment,?rely on?the main control?on the?handle?remote?machine?armmoves to complete the?surgery?on?postoperative.?In addition,?the use of?haptic mastercontroller,?arm?driven?system and a?bamboo?mechanism of surgery?robot Hansen?Medical,vascular intervention.?Mazor?company developed?spinal surgery?robot?system has been completed?on?operation of?multiple cases of?Department of orthopedics?on?operation.?High precision?surgical?operation?robot?on?Acrobot?company developed a?complete?knee surgeryon?patients.?Johns Hopkins University has developed a?department of Ophthalmology surgeryon?postoperative?assisted robot system.
Domestic research?work in?surgical?operation?robot field?on?the rapid development.?Beihang University and the?Navy General Hospital?Department of cerebral surgery?robot system?was developed in cooperation,?and completed the?multi?example?Department of cerebral surgeryremote?teleoperation?on?stereotactic?operation.?And?the joint development of?the Department of orthopedics?Beijing Ji Shui Tan Hospital?between?surgery?robot system,?and completed thelong bone fracture?fixation?intramedullary?Zhao?a?remote?teleoperation:?Navy General Hospital,Beijing Hospital?between?operation?and?cooperation in the development?effort?of interventionalsurgery?robot?on?bamboo.?Tianjin University has developed a?microsurgical?operation ofmaster-slave?teleoperation?robot?on?structure,?with two dimensional?force sensor,?and?the successful completion of the?animal?experiment.?China?Automation Science Research?Institute and?Shanghai Thorax Hospital?and other units?jointly developed by?vascular interventionalsurgery?robot?on,?and complete the?multiple cases of?animal?experiment.?Harbin Institute of Technology,?Beijing Institute of Technology,?Shanghai Jiao Tong University?have conductedresearch?on?different types of?medical?surgery?robot system?and the development of?robot system.
1.4 Robot system for?bio inspired?a?bionic robot
With the expansion?of robot application?services,?from the industrial?field to social?environmentand other areas of investigation,?the robot?working environment?from the structured environment?simple,?fixed,?predictable?into?unstructured?environment is complex,?dynamic,uncertain,?it requires the robot?research in?structure,?sensing,?control,?intelligent?and other aspects?to give a new?method to adapt to?new environment,?new task,?new?demand.Therefore,?many scholars?seek inspiration?from nature,?so as to put forward a new?method to solve?new problems.?By mimicking?of biological?structure and the motion mode of?the robot system?is one of the basic?methods of?a particular environment?to study,?such as skin?bionic,bionic?climbing?movement.
Due to the characteristics?of high efficiency,?high maneuverability?fish?movement,?low noise,bionic robot fish?of biomimetic?fish?movement patterns?are widely?attention.?Modeling andcontrol design,?according to the different types?of biomimetic fish fin?has?done a lot of research work,?such as MIT?University?developed a?robotic fish?RoboTuna?and RoboPike,Osaka University has developed?the pectoral fin?robotic fish?B1ackBass,?British Heriot-Wat seven?of the University of?fin.?University of Washington,?Essex?University?in the control aspect,as?single?Florida?Center?University,?Japan,?University of New Mexico?university?name?squattersAmerica?in?micro?robot fish,?Northwest?University,?Nanyang Technology University,?AmericaOsaka University?has made?great research results?on the?undulatory fin?propulsion.?Domesticin?biomimetic underwater?robot research?has also?carried out a lot of work.?Beihang University has developed?SPC?series of?bionic robot fish?system,?carried out the?lake trial and sea trial,completed the?underwater?examination accounting,?environment monitoring?demonstration application,?in which the SPC-3UUV?body length of?1.6 m,?a cruise speed of 1.12m/s,?a range of 70.7?km.?Chinese?Automation Science Research?Institute has developed?the caudal fin propulsion?and fluctuation?of biomimetic robotic fish?fin propulsion,?experimental verification?is realized,?swim,?deep?down?snorkel,?obstacle avoidance,?fast start,?horizontal and vertical?fast steering,?many fish?coordination?of motion control,?and the realization of the?biomimetic?robotic dolphin?jump?water?movement.?To carry out a large number of?studies at the National University of Defense Technology?in?fin?bionic robot fish,?developed a?robotic fish?finpropulsion system of?many kinds of fluctuation.?Harbin Engineering University,?Harbin Institute of Technology,?University of Science & Technology China,?Peking University and other unitshave also?developed a?system?of bionic robot fish?and conducted?a lot of research work.
2 robotic technology development?trend
Through the analysis of?the existing?robot technology research?work,?research and applicationof robot technology?shows?from industry?rapidly to other areas of?the extension andexpansion.?The new?demand to the operating?performance?demand,?other areas of thetraditional?industrial areas,?greatly promoting the?further?development of robot?theory andtechnology.
In the industrial field?application of?industrial robots,?has?no longer limited to?simple movement repetition.?For the complex?operation requirements,?intelligent,?groups?of industrial robot?antitune?operations have become?the key to solve the problem: for the?operation?of high speed,high precision,?heavy load,?industrial?robot?dynamics and kinematics?calibration,?force controland need further research:?the robot and the?operator?in the overlapping?work?space cooperation?homework problems,?then?on the structure?design,?Robot Perception?and?control research?and puts forward new requirements?to ensure the safety of?man-machine jointoperation.
In the industrial?field beyond,?robot has?wide application prospect in?medical services,?field survey,?deep space?exploration in the deep sea,?family service?and intelligent transportationand other fields.?In these areas,?the robot needs to be?in a dynamic,?unknown,?non?complex environment?structured?complete different types of?tasks,?which on the?robot's?adaptability to environment,?environmental perception,?autonomous control,?human-computer interaction?has put forward higher requirements.
1） Environmental adaptability.?The robot's?working environment?is?indoor,?outdoor,?volcano,?deep sea,?space,?and even the?extraterrestrial,?the?complex?terrain,?ground or?changes in?air pressure,?different temperature,?great?different irradiation,?the different gravity?conditions result in?mechanism design?and control?method of robot?design must be?targeted,?adaptability.Adaptation?has?shown,?when?run,?jump,?crawl,?walk?in different athletic ability?by biomimeticsegments?research,?robot mechanism?and control methods?for?different?environmental conditions?has important theoretical value?to improve?the?environmental adaptability of?the robot.
2） Environmental perceptions.?In the face of?the unknown,?complex,?dynamic?changes of?external environment,?robot?accurate?perception of the environment?is the basis for?decision making and?control.?The perception of?information?fusion,?environment modeling,?environmentalunderstanding,?learning mechanism is the?important research contents in environmentalperception.
3） Autonomous control.?In the face of?the dynamic changes in the?external environment,?the robot?must be?planning,?decision-making and control?based on the established?task andenvironment perception?results?using the?built-in?algorithm,?in order to achieve the?ultimate goal.?No?pre?or large?delay?in?ten?without?legal person?of ten?pre?conditions,?autonomous control?can ensure the?robot?to avoid danger,?complete the task.
4） Human computer interaction.?To enhance the?robot working?ability,?meet the?demand?of complex?tasks?is important.?Two dimensional?m
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