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一、引言机器人(ROBOT)一词,出自捷克作家卡雷尔·查培克的剧本《洛桑万能机器人公司》。捷文ROBOTA是奴隶的意思。到目前为止,对机器人还没有确切的统一定义,我们可以把它理解为“能完成人的某种功能的智能机器”。通常,工业机器人的执行机构是抓料“手”,它具有很高的动态性能,可以按照所存贮的程序实现复杂的空间运动,就其主要特征来说,近似于受大脑控制的人手的动作。此外,有些工业机器人还要在一定范围内移动,就可以认为同时具有“脚”的功能。至于它的外表形态是否像人,并不是实质问题。撇开形态问题不谈,对机器人可从智能、机能和物理能三个方面进行评价。智能是指感觉、记忆、学习、判断等功能;机能是指机动性和空间占有性等;物理能包括力、速度、连续运行能力以及可靠性与寿命等。图1所示为人、机器人以及信息处理机器和工程机械在上述“生物空间”所处的地位。从图中可见,机器人与
I. INTRODUCTION The word robot (ROBOT) comes from the script “Lausanne Robot Company” written by Czech writer Karel Chapek. Jiewen ROBOTA is the meaning of slaves. So far there is no definitive definition of a robot, which we can interpret as “a smart machine that can accomplish some sort of human function.” In general, industrial robot actuators are grasping “hands”, which have high dynamic performance and can perform complex spatial movements in accordance with stored procedures, and in their main features are similar to those controlled by the brain action. In addition, some industrial robots also need to move within a certain range, which can be considered as having the function of “foot” at the same time. Whether or not it looks like a human being is not a matter of substance. Regardless of the morphological problems, the robot can be evaluated from three aspects: intelligence, function and physics. Intelligence refers to the feeling, memory, learning, judging and other functions; function refers to mobility and space possession; physics can include force, speed, continuous operation and reliability and life expectancy. Figure 1 shows the human, robot and information processing machines and construction machinery in the “biological space” position. Can be seen from the figure, with the robot