寰炴妧琛�(sh霉)瑙掑害璎涳紝绶ㄥ涓€鍊嬬啊鍠殑姗�(j墨)鍣ㄤ汉鎺у埗绯荤当(t菕ng)锛圧obotController锛屼互涓嬬ūRC锛夎畵姗�(j墨)鍣ㄤ汉鍕曡捣渚嗙⒑瀵�(sh铆)涓嶉洠锛屽咕钀浠ｇ⒓瓒崇煟銆備竴鍊嬫サ绨＄増姗�(j墨)鍣ㄤ汉鎺у埗绯荤当(t菕ng)鍙互鍒嗘垚骞惧€嬫ā濉婏細绋嬪簭绶ㄨ集鍣ㄣ€佽В閲嬪櫒銆佽矾寰戣(gu墨)鍔冨櫒銆佹彃瑁�(b菙)鍣�銆侀亱(y霉n)鍕曞(xu茅)閫嗚В銆佺‖浠舵帴鍙ｆā濉�銆�

濡備綍鎼缓姗�(j墨)鍣ㄤ汉鎺у埗绯荤当(t菕ng)锛熶互璁撴(j墨)鍣ㄤ汉鏈璧颁竴姊濈洿绶氱偤渚�锛屾帶鍒剁郴绲�(t菕ng)鐨勭祼(ji茅)妲�(g貌u)瑷�(sh猫)瑷堝鍦�1鎵€绀�銆傚ぇ鑷存椹熷涓嬶細

鈼忕▼搴忕法杓櫒锛屽彲浠ユ壘闁嬫簮鐨勬枃鏈法杓櫒鏀归€�锛�

鈼忚В閲嬪櫒锛屽彲浠ョ敤姝ｅ墖琛ㄩ仈(d谩)寮忓(sh铆)鐝�(xi脿n)锛�

鈼忚矾寰戣(gu墨)鍔冨櫒锛屽彲浠ョ収钁椼€婃(j墨)鍣ㄤ汉灏�(d菐o)璜栥€嬬涓冪珷渚�锛�

鈼忔彃瑁�(b菙)鍣�锛屼篃鍙互鐓ц憲銆婃(j墨)鍣ㄤ汉灏�(d菐o)璜栥€嬬涓冪珷渚嗭紱

鈼忛亱(y霉n)鍕曞(xu茅)閫嗚В锛屽彲浠ョ収钁椼€婃(j墨)鍣ㄤ汉灏�(d菐o)璜栥€嬬鍥涚珷渚�锛�

鈼忕‖浠舵帴鍙ｆā濉婏紝鍙互璨风従(xi脿n)鎴愮殑閬�(y霉n)鍕曟帶鍒跺崱锛屼篃鍙互绉绘闁嬫簮鐨勯€氫俊鍗�(xi茅)璀版＇銆�

鍙﹀锛岀恫(w菐ng)绲�(lu貌)涓婃湁娴烽噺鐨勫熀绀�(ch菙)闁嬫簮浠ｇ⒓鍙互渚涘弮鑰冪敋鑷崇洿鎺ヤ娇鐢�锛屽苟涓嶉渶瑕佸澶х殑宸ヤ綔閲�銆備竴鍊嬫湁榛�(di菐n)绶ㄧ▼鍩虹(ch菙)锛屼簡瑙ｅ熀鏈(j墨)鍣ㄤ汉瀛�(xu茅)鐨勫伐绋嬪斧鍏╁€嬫湀灏辫兘鈥滄悶瀹氣€濋€欐ǎ涓€鍊嬧€滄(j墨)鍣ㄤ汉鎺у埗绯荤当(t菕ng)鈥�銆�

閫欐ǎ鐨勬帶鍒剁郴绲�(t菕ng)鍎�(y艒u)鍖栦竴涓嬬┅(w臎n)瀹氭€у拰鐢ㄦ埗鐣岄潰锛圚MI锛�锛屼篃鍙互鎳�(y墨ng)浠樼啊鍠殑宸ヤ綔锛屾斁鍦ㄤ笁鍗佸勾鍓嶄篃鏄笘鐣屼竴娴佹按骞�銆�

鐣�(d膩ng)浠ｅ伐妤�(y猫)姗�(j墨)鍣ㄤ汉鎺у埗绯荤当(t菕ng)瑷�(sh猫)瑷堝師鍓�

涓婇潰鐨勬サ绨＄増鎺у埗鍣ㄥ(sh铆)闅涙槸鎸夊緸绀烘暀涓婄殑鐩磋楂旈(y脿n)渚嗚ō(sh猫)瑷堢殑锛氳兘鍩�(zh铆)琛屾枃鏈寚浠ら€�(j矛n)琛岄亱(y霉n)鍕�銆傚儏寰炴榛�(di菐n)鐪�锛岀従(xi脿n)鍦ㄥ洓澶у鐨勬帶鍒剁郴绲�(t菕ng)浼间箮涔熶笉閬庡姝や簡銆�

浜嬪(sh铆)涓�锛岀稉(j墨ng)閬庨€欎箞澶氬勾鐨勭櫦(f膩)灞�锛屾帶鍒剁郴绲�(t菕ng)鏃╁凡涓嶈兘鐢ㄩ€欑ó绨″柈鎻忚堪渚嗘鎷簡銆�

鐣�(d膩ng)浠ｇ殑宸ユキ(y猫)姗�(j墨)鍣ㄤ汉鎺у埗绯荤当(t菕ng)鑷冲皯闇€瑕佽€冩叜浠ヤ笅瑷�(sh猫)瑷堝師鍓�锛岃鍦�2銆�

锛�1锛塂esignforRobots

a)robotshassingularities,limitedpower,flexiblestructure

b)imperfectlymanufactured

c)bynomeansaperfecteffector

锛�2锛塂esignforApplications

a)sensor-basedpathplanning

b)FTsensor-basedfunctions

c)communicationprotocols

d)easyintegration

e)process-specificfunctions

f)highlyreliable,robustandscalablesoftwarearchitecture

锛�3锛塂esignforHuman

a)intuitiveinteraction

b)easy-to-use

c)safetyrequirements

浠ヤ笂鍒楀嚭鐨勭窗(x矛)鍒嗛粸(di菐n)锛屾瘡涓€鍊嬮兘鍙互瀵竴鍊嬪緢澶х殑灏堥锛屽洜姝ゆ湰鏂囧彧鑳界郸鍑轰竴浜涙鎷€х殑浠嬬垂銆�

DesignforRobots

鎺у埗绯荤当(t菕ng)棣栧厛闇€瑕佹帶鍒舵(j墨)鍣ㄤ汉鐨勬(j墨)闆荤郴绲�(t菕ng)锛岀櫦(f膩)鎻嚭姗�(j墨)鍣ㄤ汉鎳�(y墨ng)鏈夌殑鎬ц兘锛屾豢瓒虫€ц兘闇€姹�銆傚儚涓婅堪妤电啊鐗堟帶鍒跺櫒閭ｄ箞铏曠悊鏄偗瀹氫笉琛岀殑锛屽柈浠ヨ蛋鐩寸窔鐐轰緥锛屼笉鑰冩叜濂囩暟鐨勫晱椤�锛屽(sh铆)闅涗腑骞句箮鐒℃硶浣跨敤銆�

鐝�(xi脿n)瀵�(sh铆)涓殑宸ユキ(y猫)姗�(j墨)鍣ㄤ汉绲曢潪鐞嗘兂鐨勫煼(zh铆)琛屽櫒锛氳几鍑哄姛鐜囨湁闄�銆佺祼(ji茅)妲�(g貌u)鏈夋煍鎬�銆佸姞宸ユ湁瑾ゅ樊銆傚湪閫欎簺绱勬潫涓嬪浣曟豢瓒宠濡傞珮閫熼珮绮惧害鐨勬€ц兘瑕佹眰锛屾槸鎺у埗绯荤当(t菕ng)蹇呴爤瑙ｆ焙鐨勯瑕佸晱椤�銆傚湪鎴愭湰闄愬埗涓�锛岀暥(d膩ng)浠ｆ帶鍒剁郴绲�(t菕ng)涓€鑸噰鐢ㄥ熀浜庢ā鍨嬬殑鎺у埗鏂规锛岄鍏堥渶瑕佷竴濂楀嫊鍔涘(xu茅)瑷堢畻妯″瀷骞惰鲸璀樺嚭婧�(zh菙n)纰虹殑鍙冩暩(sh霉)锛岄€欐槸鍩虹(ch菙)锛堝湒3锛夈€�

姝ゅ锛屽伐妤�(y猫)涓婂皪姗�(j墨)鍣ㄤ汉鐨勭瘈(ji茅)鎷嶉€氬父鏈夊緢楂樼殑瑕佹眰锛岄€欏氨闇€瑕佹帶鍒剁郴绲�(t菕ng)鍦ㄨ(gu墨)鍔冮亷绋嬩腑椤紡鍦拌€冩叜姗�(j墨)鍣ㄤ汉鏈珨鐨勫嫊鍔涘(xu茅)鐗规€�銆�

閫欐槸涓€鍊嬪劒(y艒u)鍖栧晱椤�锛岃€岀敱浜庢(j墨)鍣ㄤ汉閫ｇ簩(x霉)閬�(y霉n)鍕曠殑鐗归粸(di菐n)锛岄洟绶氬劒(y艒u)鍖栨柟妗堜竴鑸笉鑳戒娇鐢�銆傚浣曡檿鐞嗚澶氫笉鍚岄鍨嬬殑绱勬潫姊濅欢锛屽浣曡ō(sh猫)瑷堝湪绶氬劒(y艒u)鍖栫畻娉曪紝鏄暥(d膩ng)浠ｆ帶鍒剁郴绲�(t菕ng)瑕佽€冩叜鐨勬牳蹇冨晱椤屼箣涓€銆傦紙瑕嬪湒4锛�

1銆侀珮閬╃敤鎬с€侀珮绌�(w臎n)瀹氭€�銆侀珮鍙摯(ku貌)灞曟€х殑杌熶欢鏋舵(g貌u)

鐣�(d膩ng)浠ｅ伐妤�(y猫)姗�(j墨)鍣ㄤ汉娑夊強鍒板姏瀛�(xu茅)銆佹劅鐭�銆佸劒(y艒u)鍖栥€佹帶鍒�銆佽▓绠楁(j墨)銆侀€氳▕绛夊鍊嬪皥妤�(y猫)瀛�(xu茅)绉戦杸椤�锛屽張娑夊強鍒板悇绋悇妯ｇ殑杌熶欢纭欢锛岄倓娑夊強寰�(f霉)闆滃璁婄殑鎳�(y墨ng)鐢ㄥ牬鏅�銆傞€欏皪鎺у埗绯荤当(t菕ng)鎻愬嚭浜嗚澶氭寫鎴�(zh脿n)锛屾矑鏈変竴鍊嬭冻澶犲仴澹拰闁嬫斁鐨勮粺浠舵灦妲�(g貌u)骞句箮鏄笉鍙兂璞＄殑锛屽叾涓寘鎷細

鈼忓浣曟敮鎸佹(j墨)鍣ㄤ汉鍚勭ó鎺у埗绛栫暐鐨勫(sh铆)鐝�(xi脿n)鑸囧垏鎻涳紱

鈼忓浣曞(sh铆)鐝�(xi脿n)澶氬堡绱�/澶氭ā濉婇枔鐨勫(sh铆)鏅傛暩(sh霉)鎿�(j霉)浜や簰锛�

鈼忓浣曚繚璀夎澶氬姛鑳界殑骞惰涓嶆倴锛�

鈼忓浣曢€�(j矛n)琛岄暦鏅傞枔绌�(w臎n)瀹氶亱(y霉n)琛岃€屼笉閫�(j矛n)鍏ラ尟瑾ょ媭鎱�(t脿i)锛�

鈼忓浣曡ō(sh猫)瑷堝弸濂界殑浜烘(j墨)浜や簰銆�

2銆佹(j墨)鍣ㄤ汉瑾ゅ樊妯�(bi膩o)瀹氳垏瑁�(b菙)鍎�

宸ユキ(y猫)姗�(j墨)鍣ㄤ汉鍦ㄧ敓鐢�(ch菐n)鏅傚繀鐒舵渻寮曞叆鍔犲伐瑁濋厤瑾ゅ樊锛涘湪璨�(f霉)杓夌媭鎱�(t脿i)涓嬪張鏈冪櫦(f膩)鐢熷綀鎬ц畩褰€€傜偤浜嗘彁楂樼簿搴�锛屼竴鑸渻缍�(j墨ng)閬庡嚭寤犲墠鐨勬(bi膩o)瀹�锛岄€氶亷杈ㄨ瓨鏂规硶渚嗗緱鍒版簴(zh菙n)纰虹殑骞句綍瑾ゅ樊鍜岃畩褰㈠亸宸�锛岄€�(j矛n)鑰屽湪鎺у埗绯荤当(t菕ng)鍏�(n猫i)閫�(j矛n)琛岃(b菙)鍎�銆�

鍩轰簬妯″瀷鐨勬帶鍒舵柟妗堣€冩叜浜嗘(j墨)鍣ㄤ汉鏈珨鐨勮澶氱壒鎬�锛岄€欐槸鐣�(d膩ng)浠ｅ伐妤�(y猫)姗�(j墨)鍣ㄤ汉鎺у埗绯荤当(t菕ng)鏈夊垾浜庨€氱敤閬�(y霉n)鍕曟帶鍒跺崱/鍣ㄧ殑涓€澶х壒榛�(di菐n)锛屼篃鏄竴澶у劒(y艒u)鍕�?锛孎(xi脿n)鍦ㄤ富娴佺殑宸ユキ(y猫)姗�(j墨)鍣ㄤ汉鏈夌暥(d膩ng)鍓嶇殑鎬ц兘锛屾湁璩翠簬姝�銆�

闅ㄨ憲妯″瀷鍜岀畻娉曠殑涓嶆柗寰�(f霉)闆�锛屽浣曞劒(y艒u)鍖�/寰�(f霉)鐢ㄨ▓绠楋紝濡備綍鍒嗛厤瑷堢畻閲忎篃鎴愪簡杌熶欢瀵�(sh铆)鐝�(xi脿n)鏅備笉寰椾笉鑰冩叜鐨勫晱椤�锛汥esignforRobots涔熸剰鍛宠憲杌熺‖浠剁殑鑱�(li谩n)鍚堣ō(sh猫)瑷�锛屼緥濡�锛屽浣曠敤鏈€灏忕殑鎴愭湰閬�(d谩)鍒板姛鑳芥€ц兘闇€姹�锛岃粺纭欢鐨勭稖鍚堝劒(y艒u)鍖栨墠鑳介仈(d谩)鍒版垚鏈垏鎬ц兘鐨勮壇濂藉钩琛°€�

姝ｆ槸鍩轰簬閫欐ǎ鐨勯檺鍒跺拰闇€姹�锛岀従(xi脿n)鍦ㄤ笘鐣屼笂骞句箮鎵€鏈夌殑姗�(j墨)鍣ㄤ汉澶у粻鎵嶉伕鎿囦簡鑷繁鐮旂櫦(f膩)鎺у埗绯荤当(t菕ng)+姗�(j墨)姊版湰楂旇ō(sh猫)瑷�锛屽叾浠栬濡傞浕姗�(j墨)銆佹笡閫熷櫒绛夐浂閮ㄤ欢澶栬臣鐨勭瓥鐣�銆�

DesignforApplications

宸ユキ(y猫)鎳�(y墨ng)鐢ㄥ彲浠ヨ鏄伐妤�(y猫)姗�(j墨)鍣ㄤ汉鎺у埗绯荤当(t菕ng)鐨勭櫦(f膩)灞曠殑涓昏鎺ㄥ嫊鍔�銆傞亷鍘�锛屽叾鐧�(f膩)灞曢暦鏈熷彈姹借粖宸ユキ(y猫)鐨勯渶姹傞﹨(q奴)鍕�锛涢毃钁楁噳(y墨ng)鐢ㄥ牬鏅殑鎿�(ku貌)灞曪紝鍚勭ó鏂版噳(y墨ng)鐢ㄤ篃灏嶆帶鍒剁郴绲�(t菕ng)鎻愬嚭浜嗗悇绋悇妯ｇ殑闇€姹�銆�

1銆佸熀浜庡偝鎰熷櫒鐨勮矾寰戣(gu墨)鍔僺ensor-basedpathplanning

鑳芥牴鎿�(j霉)鍌虫劅鍣ㄤ俊鎭締鍦ㄧ窔鐢熸垚鍜屼慨姝ｈ矾寰戞槸鐣�(d膩ng)浠ｅ伐妤�(y猫)姗�(j墨)鍣ㄤ汉鎺у埗绯荤当(t菕ng)鐐鸿ū澶氭噳(y墨ng)鐢ㄦ彁渚涙敮鎾愮殑涓€鍊嬮噸瑕佸熀绀�(ch菙)銆�

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2銆佸熀浜庡姏鍌虫劅鍣ㄧ殑鍔涙帶F/Tsensor-basedforcecontrol

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