【正文】 We will, thus, discuss the mputational ponent as if it were a simple puter, recognizing that tile need for realtime control may require special equipment and that some of this equipment may even be analog, although the current trend is toward fully digital systems.One further note: We will tend to avoid the use of the term microprocessor in this book and simply say puter, although many current robot manufacturers use one or more microprocessors in their systems.The putation ponent performs the following operations: Servo Given the current position and/or velocity of an actuator, determine the appropriate drive signal to move that actuator toward its desired position. This operation must be performed for eaeh actuator. Kinematics Given the current statel of the actuators (position and velocity ),determine the current state of the gripper. Conversely, given a desired state of the hand, determine the desired state for each actuator.Dynamics Given knowledge of the loads on the arm (inertia, friction, gravity, acceleration), use this information to adjust the sorvo operation to achieve better performance.Workplace Sensor Analysis Given knowledge of the task to be performed, determine appropriate robot motion mands. This nmy include analyzing a TV picture of the workplace or measuring and pensating for forces applied at the hand.In addition to these easily identified co. mponents, there are also supervisory operations such as path planning and operator interaction.中文翻譯工業(yè)機器人及其系統(tǒng)組成有許多關(guān)于機器人這個術(shù)語的定義。 and applications in the wood, paper, and foodprocessing industries. As industrial robot technology and robot intelligence improve even further, additional applications may be justified effectively.The ponents of a robot system could be discussed either from a physical point of view or from a systems point of view. Physically, we would divide the system into the robot, power system, and controller (puter). Likewise, the robot itself could be partitioned anthropomorphically into base, shoulder, elbow, wrist, gripper, and tool. Most of these terms require little explanation.Consequently, we will describe the ponents of a robot system from the point of view of information transfer. That is, what infomtation or signal enters the ponent。s industrial robot installations. The reasons for this penetration are sociologicaland technological factors that are unique to Japan:industrial robots brought productivity and quality gains in Japanese industry, coupled with improvements of the work enviromnent. These have perpetuated the socialdemand for more robots as well as increased the expectation from this technology.Current and emerging robot applications in industry can be categorized on the plexity and requirements of the job. They range from simple, low technolngy pickand place operations through medium technology painting, some assembly and welding operations to high technology precision assembly and inspection operations.Pickandplace Operations The earliest applications of robots were in machine loading unloading, pickandplace, and material transfer operations. Such robots typically were not servo controlled and worked with pneumatic or hydraulic power. The Icxadcarrying requirements were high, working in dirty or hazardous factory environments. Replacing unskilled human labor often in hazardous jobs, these robots had to be robust and low in initial and maintenance costs.Painting and Welding Operations The next level in the sophistimtion of industrial robot applications was in spray painting, and spot and arc welding. These applications plemented or replaced certain skilled human labor. Often the justification was by eliminating dangerous environmental exposures. These applications often require tracking plex trajectories such as painting surface mntours, hence mrvo controlled articulated or spherical robot structures were teaching modes became mom, and sometimes sophisticated sensors are employed to maintain process consistency. Experience has shown that when properly selected and implemented, thase robotic applications usually lead to reduced overall manufacturing costs and improved product quality pared with manual method.Assembly Operations The most adv