机器人学基础_第9章_机器人应用

null机器人学基础 第九章 机器人应用中南大学 蔡自兴，谢 斌 zxcai, xiebin@mail.csu.edu.cn 2010机器人学基础 第九章 机器人应用*Ch.9 Robot ApplicationsFundamentals of RoboticsFundamentals of RoboticsChapter 9 Robot Applications*Chapter 9 Robot Applications9.1 Factors Considered in Applying Industrial Robots 应用工业机器人考虑因素 9.1.1 Evaluating Tasks for Robots 机器人的任务估计 It is difficult to choose tasks for robots effectively without a thorough understanding of the applications of robot. When evaluating tasks, we should distinguish the undergoing tasks and those should be carried out by the robot. Using robots can provide a chance to improve the productivity significantly by changing process variables.Ch.9 Robot Applications9.1.2 Three Key for Applying Robots 应用机器人三要素*9.1.2 Three Key for Applying Robots 应用机器人三要素 Technical Bases （1）performance requirement （2）configuration requirement （3）product feature （4）equipment replacement （5）process change 9.1 Factors Considered in Applying Industrial Robots9.1.2 Three Key for Applying Robots*Economic Reasons the factors considered in economic including: （1）labor （2）material （3）productivity （4）energy （5）equipment （6）cost9.1.2 Three Key for Applying Robots9.1 Factors Considered in Applying Industrial Robots9.1.2 Three Key for Applying Robots*Human Factors （1）operator （2）administrator and department （3）maintainer and others Date Recording provide a rough estimation of observed application projects. 9.1.2 Three Key for Applying Robots9.1 Factors Considered in Applying Industrial Robots9.1.3 Thumb Rules for Applying Robots 使用机器人的经验准则*9.1.3 Thumb Rules for Applying Robots 使用机器人的经验准则Estes (Vernon E. Estes) in 1979, made eight rules for the use of robots, known as Vernon rules, which are as follows: （1）Starting the robot plans from poor conditions （2）Considering the application of robots in the department with low productivity. （3）Evaluating long term needs. （4）Making working cost not to be proportional to the cost of robots. （5）Striving to simplicity and effectiveness. （6）Ensuring the safety of human and equipment （7）Don’t expecting sellers to provide full turnkey services. （8）Don’t forgetting that robot needs human.9.1 Factors Considered in Applying Industrial Robots9.1.4 Steps for Applying Robots 采用机器人的步骤*9.1.4 Steps for Applying Robots 采用机器人的步骤 Steps for Applying Robots in production systems: （1）Considering all aspects and making sure the automation requirements, such as improving productivity, increase outputs, reducing labor intensity, improving working conditions and so on. （2）Establishing robot plans, including determine automa-tion objectives, training technician, preparing the approximate schedule and so on. （3）Discuss the requirements of applying robots. （4）Normalizing the assistant operation and the performance of the robots9.1 Factors Considered in Applying Industrial Robots9.1.4 Steps for Applying Robots*9.1.4 Steps for Applying RobotsSteps for Applying Robots in production systems: （5）Designing the project of robotization operation system. （6）Choose suitable evaluation criterion for robot system. （7）Detailed design and specific implementation. 9.1 Factors Considered in Applying Industrial Robots9.1.4 Steps for Applying Robots*9.1.4 Steps for Applying RobotsGeneral steps for robots to be used in production systemsFig. 9.1 Steps for Applying Robots9.1 Factors Considered in Applying Industrial Robots9.2 Application Areas of Robots 机器人的应用领域*9.2 Application Areas of Robots 机器人的应用领域9.2.1 Robots for Industry Compared with the traditional machine robot, it has two main advantages： Entirely automatization in production process It brings high quality production and well quality control, and improve the ability to adapt the constantly changing user needs，so it will improve the product competitiveness in the market. Strong adaptability of production equipment The device also has the ability to adapt to failures9.2 Application Areas of Robots9.2.1 Robots for Industry*9.2.1 Robots for IndustryRobots for Industry mainly used in: （1）Automotive Industry   （2）Machine building and electronics Industries (including Telecommunications Industry) （3）General Mechanical Industry （4）Architecture    （5）Metal working  （6）Foundry Industry （7）Others9.2 Application Areas of Robots9.2.1 Robots for Industry*Robots for Industry classified as： （1）Materials Processing  （2）Parts manufacturing (including: forging, welding, broken up, and casting) （3）Product testing (including: explicit test, implicit test) （4）Product assembly (including: materials processing, on-line testing, spare parts supply, matching agents such as pressure and tightening processes)9.2.1 Robots for Industry9.2 Application Areas of Robots9.2.2 Robots for Exploration 探索机器人*9.2.2 Robots for Exploration 探索机器人Robots for Exploration （1）Autonomous Robot   Autonomous robot can perform programming tasks in harsh environments. （2）Remote Control Robot The operator control the robot in a harsh environment to complete some task from relative long distance away.9.2 Application Areas of Robots9.2.2 Robots for Exploration9.2.2 Robots for ExplorationTwo main types of robots for exploration Underwater Robot According to movement modes: （1）Floating Underwater Robot （2）Walking Underwater Robot （3）Mobile Underwater Robot According to power supply modes: （1）Cable Underwater Robot （2）Wireless Underwater Robot 9.2 Application Areas of Robots*9.2.2 Robots for Exploration*9.2.2 Robots for ExplorationSpace Robot The main task of space robots: （1）To explore as a pioneer in non-human living conditions such as the moon, Mars and others planets. （2）Instead of Astronauts to complete satellite service, the space station service and the experiment under space environment.9.2 Application Areas of Robots9.2.3 Robots for Service 服务机器人*9.2.3 Robots for Service 服务机器人Definition 1 Robot for service is a semi-autonomous or full-autonomous robot，which services for human health. Definition 2 Robot for service can be seen as a kind of free programming mobile device, and it can partially or fully automatic complete services.9.2 Application Areas of Robots9.2.3 Robots for Service*9.2.3 Robots for ServiceMedical robots applied to the following aspects: （1）Diagnosis Robot （2）Nursing Robot （3）Disability and Paralysis Rehabilitation Robot （4）Household Robot （5）Entertainment Robot （6）Medical and surgical robot9.2 Application Areas of Robots9.2.3 Robots for Service*9.2.3 Robots for ServiceOther robots for service : Deliver Letters Robots Tour Guide Robots Add Oil Robots Construction Robots Agriculture and Forestry Robots9.2 Application Areas of Robots9.2.4 Robots for Military 军事机器人*9.2.4 Robots for Military 军事机器人9.2 Application Areas of RobotsGround military robots intelligent robot, including independent and semi-autonomous vehicles remote-controlled robot, namely, Various remote unmanned vehicles Aerial military robots Marine military robots 9.3 Application Examples of Industrial Robots 工业机器人应用举例*9.3 Application Examples of Industrial Robots 工业机器人应用举例9.3.1 Robots for Material Handling （材料搬运） CONSIGHT system developed by General Motors (GM) is a visual control system used for transporting and assembling of the parts. 9.3 Application Examples of Industrial RobotsFig 9.3 Hardware diagram of CONSIGHT system9.3.1 Robots for Material Handling*9.3.1 Robots for Material HandlingFunctions of CONSIGHT system : Determining positions and directions of various mechanical parts (including complex curve objects). It is easy to compile programs on the system by inserting the new parts. Structure light subsystem, prevent need of high scene contrast. Processing image data effectively, which contains video noise, in many typical environment of factory. 9.3 Application Examples of Industrial Robots9.3.1 Robots for Material Handling*9.3.1 Robots for Material HandlingFig 9.4 Operating procedure of CONSIGHT monitoring system 9.3 Application Examples of Industrial Robots9.3.2 Welding Robots 焊接机器人*9.3.2 Welding Robots 焊接机器人Welding robot has the largest applications in industrial robot. Fig 9.5 Simplified hardware diagram of HRGH - Ⅱ control system 9.3 Application Examples of Industrial Robots9.3.2 Welding Robots*9.3.2 Welding RobotsThe system is composed of two-level control system: First level based on microcomputer system. The first level chooses microcomputer IBM - PC/XT, with the functions: management, fault diagnosis and machine language editing, compiler and etc. Second level based on single board computer system. Choosing TP - 86 single board computer as the second control circuit, realize servo position control for 5 joints. 9.3 Application Examples of Industrial Robots9.3.2 Welding Robots*Figure 9.6 Software flowchart of HRGH-II9.3.2 Welding Robots 9.3 Application Examples of Industrial Robots9.3.3 Painting Robots 喷漆机器人*9.3.3 Painting Robots 喷漆机器人PJ-I painting robotFig 9.8 Structure diagram of PJ-I control system 9.3 Application Examples of Industrial Robots9.3.3 Painting Robots*9.3.3 Painting Robots Control software consists of two modules: Teaching module Replay module. Structure of these two module are similar. Teaching program consists of three tasks: Task A completes initialization and create new task. Task B consists of reading the collected data in memory buffer and writing them into the disk. Task C contains monitoring operation on panel buttons. 9.3 Application Examples of Industrial Robots9.3.3 Painting Robots*9.3.3 Painting RobotsFig 9.9 Teaching flowchart Initialization, (b) Task A, (c) Task B, (d) Task C 9.3 Application Examples of Industrial Robots9.3.3 Painting Robots*9.3.3 Painting RobotsNC spray-paint systemFig 9.10 Composition of NC Automatic spray system 9.3 Application Examples of Industrial Robots9.4 Summary 小结*9.4 Summary 小结General considerations for the application of robots. Task, Technology, Economy and Personnel. Vernon principle, criteria and experience when application of robots. Industrial robots applications. Material Handling Welding Robots Painting Robots Robots will be applied in more widely fields. Exploration Robots Military Robots Service Robots … 9.4 Summarynull 谢谢大家！*Fundamentals of Robotics