The term "robot" originated in Czech, meaning forced labor or slaves. This word is introduced by the player Karel Capek, and his fictional creation robot is very like Dr. Frankenstein's monsters - creatures created by chemical and biological methods rather than mechanical methods. However, there is no difference between mechanical robots and these fictional biological creatives in popular cultures. Basically, a robot includes:
Mechanical equipment, such as wheels, arms or other constructions that can interact with the surrounding environment. The sensors on the device or around can sense the surrounding environment and provide useful feedback to the device. The sensing input is processed according to the current situation of the device, and the system performs the corresponding action by indicating the system.
Defined robots "Repeatable multifunctional manipulator designed to perform multiple tasks mobile raw materials, components, tools, or specialized equipment through different programming operations." - US Robot Association, 1979
In the manufacturing area, the development of robots is concentrated on the engineering robotic arm of the manufacturing process. In the aerospace industry, robotics focuses on a highly professional planet. Unlike a highly automated manufacturing equipment, the planet carriers work in the darkness of the moon - no radio communication - may encounter unexpected situations. At least, a planet carrier must have some kind of sensing input source, some way to explain the input, and modify its actions to respond to the changed world. In addition, demand for perception and adaptation of a partially unknown environment requires intelligence (in other words, artificial intelligence).
From military science and space to health industry and business, the advantages of using robots have been recognized - they are becoming part of our collective experience and daily life.
They can free up us from dangerous and boring:
Security: Robot technology has been developed many different uses for processing nuclear energy and radioactive chemicals, including nuclear weapons, power plants, environmental cleaning and treatment of certain drugs. Unpleasant things: Robots perform a lot of boring, unpleasant but essential tasks, such as welding and watching work. Repeat and precision: assembly line work has become a medium-sized column in the robot technology industry. The robot is widely used in the manufacturing industry, and in the spatial exploration of minimal maintenance requirements, the robot is more attractive.
Mechanical Platform - Hardware Foundation A robot includes two main parts: robotics and some form of artificial intelligence (Artific Intelligence, AI) system. Many different body parts can be called robots. Arthroads are used for welding and lacquering; cranes and conveyor systems transport parts in the factory; giant robotic machines handle mud deep in mines. Generally speaking, one of the most interesting aspects of robots is their behavior, which requires a form of intelligence. The easiest behavior of the robot is mobile. Typically, the wheel is used as a basic mechanical device that allows the robot to move from a lower point. There is also a need for a force (such as electricity) to turn the wheel when the wheel is commanded.
Motors provide energy to the robot, allowing them to carry out materials, parts, tools or dedicated devices with different programming motion. The efficiency level of the electric motor indicates how much consumption is converted into mechanical energy. Let's take a look at some of the mechanical equipment currently used in modern robotics.
DC motor: Permanent-Magnet, Direct-Current, PMDC motor only requires only two wires, using fixed magnets, electromagnets (stator and rotors) and switches. These make up a commutator to generate motion by a rotating magnetic field.
AC motor AC motor in the input wire circulation energy, continuous motion magnetic field. DC motors and AC motors are running full speed when receiving a signal.
Stepping motor stepper motor is like a DC or AC motor without a brush. It supplies energy to the motor in the motor in order (step) to make it operate. The purpose of the stepper motor design is to control, it will not rotate only when the command is rotated, and can also rotate at any "step / per second" (highest to its maximum speed). The servo motor servo motor is a closed coil device. When a signal is received, it can be self-adjusting until the signal is matched. Servo motors are used for radio controlled aircraft and cars. It is a simple DC motor with a transmission and feedback control system.
Drive mechanism gears and chains: gears and chains are mechanical platforms that provide a powerful and accurate way to transfer rotational movements to another place (possibly changing the action when transmitting). The change between the speed between the two gears depends on the number of teeth on each gear. When the applied gear rotates a week, it pulls the chain according to the number of teeth on the gear.
Belt and belt: pulleys and belts are two additional mechanical platforms used by robots, and the work mode is the same as the gear and chain. The pulley is a wheel having a groove in the rim, and the belt is a rubber ring that can be placed in this groove.
Gearbox: The principle of the gearbox operation is the same as the gear and the chain, but there is no chain. The gearbox requires more precise tolerances, because not using a large and loose chain to transmit power, nor does it need to be adjusted, and the gear is directly engaged. Examples of the gearbox can be found in the vehicle's transmission, the timing mechanism of the landing large clock and the paper feed device of the printer.
The power supply is generally provided by two batteries. A battery is discarded once; the secondary battery operates in a reversible chemical reaction, which can be charged multiple times. The battery has a higher capacity and low self-discharge rate. Secondary (rechargeable) battery is small than primary battery, but can repeat charge, can be more than one thousand times depending on chemical reactions and the environment. General rechargeable batteries can be used for the first time for electrical or robots for 4 hours of continuous operation.
Theoretical robots can use hundreds of different types and forms of batteries. Battery is classified according to chemical reactions and specifications, with voltage and electricity. The voltage of the battery is determined by the chemical reaction of the battery, and the capacity is determined by both chemical reactions and specifications. See Table 1 for the battery specifications.
Table 1: Power supply
Table 1. Power Supplies Specifications NedaIEC Description AAA24ALR03 The minimum AA15Alr6 in normal specifications is the most commonly used small battery, which generally uses 2 or 4-section C14ALR14 flashlight small batteries, which can be used for the largest toy D13ALR20 maximum ordinary battery 9V1604A6L-R61 square, Connector that can be clamped with a clip
The robot platform is running by two sets of independent batteries, they share a ground. Thus, the motor can use a set of batteries, and the electronic device can use another set of batteries. Electronic devices and motors can also operate at different voltages.
There are two main hardware platforms in electronic control robots. Non-regulated voltages, electricity and back electromotive peaks, mechanical platforms, and electronic platforms for clean power and 5 volt signals. These two platforms need to be bridged, the purpose is to let the digital logic control the mechanical system. Classic components are bridge relays. A control signal generates a magnetic field in the coil of the relay, physically closes the switch. For example, MOSFET, it is an efficient silicon switch, there are many specifications, like transistors, as a solid state relay control mechanical system.
On the other hand, a larger robot may require a PMDC motor so that the "Turn on" resistor RD (ON) of the MOSFET causes the chip heat to significantly reduce the heating temperature of the chip. The temperature of the MOSFET, the conductivity of the MOSFET package, and heat sink is other important features of the PMDC motor.
Transistors are widely divided into two: bipolar Junction Transistors, BJTs and Field Effect Transistors, FETs. In the BJT device, the currently small current regulates a much larger current between the emitter and the receiving pole. In the FET device, the presence of the gate electric field adjusts the current between the source and the drain. The sensor robot responds based on instantaneous measurements, which requires different types of sensors.
The perception of time in most systems is built in circuits and programming. To make this productivity, the robot must have perceived hardware and software in practice, but also can be updated quickly. Regardless of the sensor hardware or software, the perception and sensor can be interacting with external events (in other words, the external world). Sensor Measures a property of the world. The term transducer "is often used alternately with the term sensor. The exchanger is a sensor mechanism or element that converts the measured energy into another form of energy. The sensor receives energy and transmits a signal to the display or computer. The sensor uses the converter to change the input signal (sound, light, pressure, temperature, etc.) into an analog or digital form that the robot can use.
Logic Sensor: A powerful abstraction of the sensor is a logic sensor, which is a sensor unit or module that provides an object. It includes signal processing of physical sensors and software processing required for extracting sensing.
Ontology Acceptance Sensor: The body feels is a navigation speculation, and the robot can measure signal from itself.
Accompanta: Accompanta The sensor measurements the relative distance between the sensors and objects.
Infrared (IR) sensor: The proximity sensor for another activity is an infrared sensor. It issues an energy close to the infrared rays and measures whether there is a very much infrared returns.
Collisions and Angle Sensors: Another type of common robot perception is tactile, or is done based on touch, collision and tentacles. The tentacles and tentacles are constructed of a solid wire. The collision sensor is usually a protruding ring on the robot, including two layers.
Microcontroller System Microcontrollers (MCU) are intelligent electronic devices used inside the robot. It provides the functionality implemented by the microprocessor (central processing unit or CPU) inside the personal computer. The MCU is slower, and the memory used is less than CPU, and the design purpose is the real world control problem. A main difference between the CPU and MCU is the number of external components required to run. MCUs can often operate without external components, generally only one external crystal or oscillator.
The microcontroller has four basic aspects: speed, capacity, memory and other. The speed is specified by the clock cycle, usually measured at a million cycle per second (Megahertz, MHz). The use of the cycle varies depending on the MCU, which affects the available speed of the processor. Capacity Specifies the MCU to process Information of the byte of information - its natural information clusters. MCU has 4 digits, 8-bit, 16-bit, and 32-bit, 8-bit MCUs are the most common capacity. MCU counts in most ROMs is kilobytes (Kb), in the RAM is byte. Many MCUs use the Harvard system, and the program is saved in a memory (usually internal or external SRAM). Then allow the processor to more efficiently access the stand-alone memory.
The fourth aspect of the microcontroller is as "other", which includes features such as dedicated input devices, which are often (but not always) having a small LED or LCD display as an output. The microcontroller also acquires input from the device and controls it by transmitting signals to different components in the device. The program counter also masters which command to do with the microcontroller.
R / C servo motor: servo motor for radio control model (automobile, aircraft, etc.) is useful in many smaller robots because it is compact and quite cheap. The servo motor itself has built-in electric motor, gearbox, position feedback mechanism, and control circuit. The standard radio control servo motor is used in models, models, and ship models, which can be used to make arm, legs, and other mechanical affiliates that move back and forth rather than the rotation. Animatronic Systems imitation human system is a robot system that mimics humans and looks like humans. Android is a humanoid robot - in other words, it is a robot that looks like a human.
Gas mechanics: Gas mechanics is the name of fluid power used in a large number of commercial robots. Gas mechanics is also used in a variety of bionic systems that belong to the category of fluid power. A more wide-known branch of fluid power is hydraulics. Please visit the gas mechanics Web site (see Refer to the References in this article) to understand the supplementary information.
Open Source Robot Control Software Open Robot Control Software (OROCOS) is the effort to start open source robots to control software projects. We have conducted a wide range of discussions, and the issues involved have such experiences and tools that can be reused other projects. Which open standards should be integrated in the project, what kind of organizational structure is best suited for this project. The purpose of the project is to develop robot control software as follows:
Using the Open Source and / or Free Software Permit to the best quality (from the two perspectives from technology and software engineering) for all types of robotic equipment and computer platforms for all kinds of robotic equipment and computer platforms Localization is characterized by the configurable software components of motion, kinetics, plan, sensing, control, and hardware interfaces.
The purpose of the project is not just to copy existing commercial robot controllers or robots simulation / programming packages. OROS projects want to develop a shared library, stand-alone components (sometimes referred to as software agents) and a configurable runtime environment that can eliminate and control all distributed robot systems. This type of project is useful in the following situations:
Reusing code as a separate subsystem using copying its organizational structure from managing an open source project to learn and develop scalable and reusable software
Open Source Matrix Below is an open source matrix library that satisfies the requirements mentioned above. We recommend Octave because it is a GPL license and implements all the features required.
GNU Octave: GNU Octave is a high-level language that is mainly used for digital operations. It provides a convenient command line interface that can digitally solve linear and nonlinear problems, or other digital experiments can be performed using a language that is substantially compatible with MATLAB. It is easy to expand and customize with user-defined functions written in Octave their own language or dynamic load-loaded modules written in C , C, Fortran or other languages.
GNU Octave is a free software. You can re-distribute it, or modify it, but to comply with the GNU General Public License, GPL. About GNU Octave more detailed information can be found when accessing the Octave Web site (see Resources).
GSL (GNU Science Library) GSL is the development of a modern extensive ANSI C language library for digital operations. GNU Science (GNU ScientificLibrary, GSL) collected routines for digital operations. These routines are prepared from the ANSI C language from the ANSI C language to provide a modern application programmer for C language programmers, while allowing the wrapper to write in a very advanced language. GSL is free software. It is divided into agreement with GNU. Please visit the Red Hat Web site (see Resources) for more information on GSL.
LINUX (TIME Linux, RTLINUX) RTLinux (TM) is a reliable real-time operating system that handles Linux as the lowest priority to perform threads as the lowest priority. In RTLinux, the kernel shares one or more processors with standard Linux. This allows the system to run an exact timing of executing data acquisition, system control, and robot technology, while serving as a standard Linux workstation. Version 3.0 (final version) can be obtained at FTP.rtlinux.com (see Refigu) Web site.
RTLinux.org is a non-commercial RTLINUX site for open source code users and developers communities. Its sister site RTLINUXUXUXUXUX.COM (see Resources) Discuss business support and development.
ECOS (Embedded Configurable Operating System): ECOS is an open source code real-time operating system for depth embedded applications. It conforms to the embedded space requirements that Linux cannot reach. Before considering applications and service requirements, Linux is currently less than 500 kilobytes, accounting for 1.5 MB of memory. ECOS open source project can be found on its Web site (see Resources).
RTEMS: RTEMS is an open source of C, C and ADA95 real-time operating system and environment. It complies with the provisions of GNU universal public licenses.
Please visit the RTEMS site (see Resources) The following is later below and get more information about RTEMS.
Utilities and Tools Roboop (a robot technology object-oriented C package): This package is an object-oriented C package for robot simulation. Technical reference and download are provided in the reference.
CORBA: Real-time communication and object request intermediary program packages for embedding distributed software agents. Each stand-alone software part registers itself and its features to the ORB via the IDL (Interface Definition Language, Interface Definition Language). Visit its Web site (see Resources) to get Cobra technology information, download, and documentation.
TANGO / TACO: This software may be useful for controlling multiple devices and multi-tools. TANGO is a Cobra-oriented object-oriented control system. The device service program can be written with C or Java. Taco is object-oriented because it treats control points in all (physical and logical) control systems as objects in a distributed environment. All actions are implemented in class. New classes can be constructed from existing classes in a class, which ensures high software reuse. Classs can be written with C , using C (using a method called C), written with Python or with LabVIEW (using G). Taco is designed to be portable and can run on many platforms (such as Linux, Solaris, HP-UX, Windows / NT, Windows / 95, and OS9). To download the source code and other technical documents, visit its Web site (see Resources).
Controller Task Control System: Task Control Architecture (TCA) simplifies the establishment of a task-level control system for mobile robots. "Task Level" refers to integration, planning and real-time control integration, planning and real-time control integration, planning and real-time control. TCA provides a universal control framework to control multiple robots. TCA provides an advanced manner that sends a message (including between the LISP and C processes) between the distributed machines. TCA provides control functions such as task decomposition, monitoring, and resource management, which is common for many mobile robotics applications. References provide technical reference and download information for task control systems.
EMC (Enhanced Machine Controller): EMC software is based on the Real Time Control System (RCS) method, using the NIST RCS library programming. The RCS library makes it easy to transplant to multiple UNIX and Microsoft platforms, which provides a neutral application programming interface (Application Programming Interface, API), such as shared memory, semaphore, and timer . EMC software is written in C and C , and has been ported to the Solaris operating system of PC Linux, Windows NT, and Sun.
Darwin2k: Darwin2k is a free robot simulation and automation design open source toolkit. Its characteristics are numerous simulation functions and an improved algorithm that automatically integrates and optimizes robots to meet the specific performance goals of task.
Language Roboml (Robot Markup Language): Roboml is used to standardize the data related to robot technology. The intent of its design is to support the communication language between the robot-based process and the interface process, and also support the communication language between people - robot interface agents, and provide a person-robot interface agent used archive data Format.
Rossum: A programming and analog environment of a mobile robot. Rossum projects try to help collect, develop, and distribute robotic application software. The Rossum project hopes to extend similar collaboration to the development of robotics.
XRCL (Extensible Robot Control Language): XRCL (pronunciation to zircle) is a relatively simple, modern programming language and environment, designed to make robot technology researchers to share their ideas through shared code. It is an open source project, protected by GNU Copyleft. Open System Architecture for Controls WITOIN Automation Systems, OSACA: OSACA is a collaborative European project designed to enhance machine tools and control system manufacturers in the world market competition. The main goal of the project is to specify the system system of the open control system independent of the manufacturer.
Summarizing robots technology has created many robots with basic physical and navigation capabilities. At the same time, the trend of social development has also begun to combine robots into daily life from entertainment to health care. Moreover, the robot can use many people from dangerous situations, essentially to make robots as a human alternative. Many applications studied by AI robot technicians have begun to achieve this. In addition, robots can also be used for more common work, such as work. However, the robot was originally developed for dirty, boring and dangerous applications, and now they have been seen as human assistants. Regardless of the application, with future technology develops to a new realm, robots will need more rather than less wisdom, which will have a huge impact on our society.
Reference
EDWIN WISE (Howard W. Sams, 2000) provides a project-oriented introduction to the technical field of robotics. It guides novices to meet the challenges of building a work-working robot and provide new ideas and techniques to senior builders. CORBA is an object of a real-time communication and an embedded software agent requesting an intermediary package. Darwin2k is a free robot simulation and automation design open source toolkit. ECOS is an embedded configurable operating system, an open source code real-time operating system for a depth embedded application. EMC (Enhanced Machine Controller) software is based on the NIST Real Time Control System, RCS method, using the NIST RCS library programming. GNU Octave is a high-level language that is mainly used for digital operations. GSL (GNU Science Library) is an uninterrupted effort for developing a modern, extensive ANSI C language library for digital operations. Introduction of Robin R. Murphy (Massachusetts Institute of Technology) Artificial Intelligence Robot Technology is intended to include all the themes programmed by artificial intelligence robots, robotic applications include sensing, navigation, path planning, and navigation for non-determining things. . OROCOS (Open Robot Control Introduction) is an effort to start open source robots to control software projects. The first phase of the project has developed a strategic sight for advanced design decisions and developed prototypes in September 2001. Since then, OROCOS will be supported by an authorized part of the EU. OSACA is an open system system internally controlled by the automation system. Gas mechanics is the name of fluid power used in many commercial robots. Roboml (Robot Markup Language, Roboticmarkup Language) is used to standardize the data related to robotics. Roboop is a robot technology-oriented C package. Rossum projects try to help collect, develop, and distribute robotic application software. RTEMS is an open source code real-time operating system and environment of C, C and ADA95. RTLINUX is a hard real-time operating system that handles the time-critical tasks and runs Linux as the lowest priority. It is also possible to obtain commercial support and development. Taco treats all (physical and logical) control systems as objects in a distributed environment. The TCA (Task Control System) simplifies the establishment of the task-level control system for the mobile robot. XRCL (pronounce Zircle) is an extensible robot control language. About the author Darrick Addison is an advanced software engineer / adviser of ASC Technologies Inc.. He began designing and developing custom software applications since 1993. He is committed to designing and developing a variety of software, with database applications, web applications (TCP / IP client / servers), GUI applications, and embedded systems for different business and government environment. Now he holds a bachelor's degree in computer science and is working on his computer science / communication master in Johns Hopkins University. You can contact Darrick through dtadd95@bellatlantic.net. He will welcome your opinions and questions.
