Robot is a comprehensive technology, a small robot, is the comprehensive crystallization of automatic control, measurement, computer skills, artificial intelligence skills, machinery, materials and communication skills. So in industrial robots, what high-tech is touched? What about the progress of these high-tech now?
【Structure of Robot Manipulator】
Through the application of modern design methods such as finite element analysis, modal analysis and simulation design, the optimal design of the robot operation organization is completed. Explore new high-strength lightweight materials to further improve the load/weight ratio. For example, the robot company represented by the Germany KUKA company has changed the parallel quadrilateral structure of the robot to the open chain structure, which broadens the operating range of the robot, coupled with the use of lightweight aluminum alloy materials, which greatly improves the function of the robot.
In addition, the advanced RV reducer and communication servo motor are selected, so that the robot manipulator almost becomes a protection-free system. The organization is moving towards modularity and reconfigurability. For example, the servo motor, reducer, and detection system in the joint module are integrated; The robot is structured by joint module and connecting rod module in a recombination way; Foreign modular installation robot products have been put on the market. The structure of the robot is becoming more and more dexterous, and the control system is getting smaller and smaller, and the two are developing in the direction of integration. The selection of parallel organization, the use of robot skills, to complete high-precision measurement and processing, this is the broadening of robot skills to CNC skills, for the future completion of the integration of robots and CNC skills laid the foundation.
【Robot control system】
Open, modular control system. It is carried out in the direction of an open controller based on a PC, which is convenient for standardization and networking; The integration of equipment has progressed, and the control cabinet is becoming smaller and smaller, and the modular structure is selected; The reliability, ease of operation and repairability of the system have been greatly improved. The function of the control system has been further improved, and it has been developed from the standard 6-axis robot in the past to now it can control 21 or even 27 axes, and has completed the software servo and full digital control. The human-machine interface is becoming more and more friendly, and the verbal and graphical programming interface is under development. The standardization and networking of robot manipulators, as well as the networked manipulators based on PCs, have become a hot topic of discussion. In addition to further improving the operability of online programming, the practical application of offline programming will become the main point of discussion, and the practical application of offline programming in some fields has been completed.
【Robot Sensing Skills】
In addition to the traditional position, speed, acceleration and other sensors, the installation and welding robot also uses laser sensors, vision sensors and force sensors, and completes the automatic tracking of welds and the automatic positioning of objects on the automatic production line and precision installation operations, which greatly improves the operation function and adaptability of the robot. The remote-controlled robot uses the fusion skills of multiple sensors such as vision, sound, force, and touch to carry out environmental modeling and decision-making control. In order to further improve the intelligence and adaptability of robots, the use of a variety of sensors is the key to solving their problems. The research focus is on the effective and feasible multi-sensor fusion algorithms, especially in the nonlinear, non-stationary and non-normal distribution scenarios. Another problem is the practical application of the sensing system.
【Network communication function】
The latest robot manipulators of YASKAWA in Japan and KUKA in Germany have completed the connection with Canbus, Profibus bus and some networks, making the robot a big step from independent use to network use, and also making the robot from the past special equipment to standardized equipment.
【Robot Remote Control and Monitoring Skills】
In some high-risk environments such as nuclear radiation, deep water, toxic and other operations, welding or other operations require remote-controlled robots to replace people. The development of the contemporary remote control robot system is not the pursuit of a full autonomous system, but is committed to the human-computer interaction between the operator and the robot, that is, the remote control plus part of the autonomous system constitutes a complete monitoring and remote control operation system, so that the intelligent robot out of the laboratory into the practical stage. The Sojana robot launched to Mars by the United States is the most famous example of the successful use of this system. The harmonious control between multiple robots and operators can establish a large-scale robot remote control system through the network, and establish a pre-appearance for remote control in the case of time delay.
【Virtual Robot Skills】
The effect of virtual reality skills in robots has been developed from simulation and rehearsal to process control, such as making the remote control robot operator feel like being in a remote working environment to operate the robot. According to multi-sensor, multimedia and virtual reality and presence skills, complete the virtual teleoperation and human-computer interaction of robots.
【Robot function price ratio】
The functions of robots are constantly improving (high speed, high precision, high reliability, easy operation and repair), while the price of a single machine is constantly decreasing. Due to the rapid development of microelectronics skills and the use of large-scale integrated circuits, the reliability of the robot system has been greatly improved. In the past, the reliability MTBF of the robot system was generally several thousand hours, but now it has reached 50,000 hours, which can meet the needs of any occasion.
【Multi-agent Control Skills】
This is a new area of robotics research now. This paper mainly discusses the group architecture, mutual communication and negotiation mechanism, perception and learning methods, modeling and planning, and group behavior manipulation of multi-agent.
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