The main historical events in the development of industrial robots are as follows:
1954: American G.C.Devol invented the programmable robot with the patent number of 2988237.
1959: American planetary company makes the first commercial robot.
1960: Unimation company of the United States was established.
1970: Victor Sherman is verifying the Star Ford manipulator.
197 1 year: Japan industrial robot association was established.
1974: Milla dragon company in Cincinnati, USA launched the first microcomputer-controlled robot T3.
1976: RALph Bolles developed the robot programming language al.
1978: unimotion company introduces PUMA, a universal robot that can be used for assembly.
1978: SCARA assembly robot was invented by Japan and Konoha.
The main events of robot research are:
1954: Denavit and Hartenberg( 1954) put forward a general method to express the geometric relationship of spatial components, which can be used to solve the forward kinematics of robots.
1962: Ernst (1962) and Boni( 1962) study the manipulator with tactile and pressure sensors respectively.
1964:ui cker( 1964) doctoral thesis studies the dynamics of spatial bars.
1968: solving inverse kinematics problems by algebraic method in Dr. Pipper's thesis.
1968: McCarthy (1968) studied robots with cameras and microphones in Stanford AI Lab, which can find and grab building blocks according to human instructions.
197 1: Kahn and Roth( 197 1) study the minimum time control of robots.
1972: Paul (1972) studies joint space trajectory planning.
1973: Bolles and Paul( 1973) assembled the water pump with Stanford arm with vision and force.
1974: Bejezy (1974) studies the dynamics and calculated torque control of robots.
1976: Bolles (1976) developed the robot programming language AL.
1979: Paul (1979) studied the trajectory planning of Cartesian space.
1979: Lozano-Perez and Wesley( 1979) study the problem of robot obstacle avoidance.
1981:R.P. Paul (1981) published the first robotics textbook, Robot Manipulator: Mathematics, Programming and Control.
The selection criteria of these events are groundbreaking in this study. However, although events 1954 and 1964 are the basis of robot kinematics and dynamics, they are not specially studied for robotics.
1978 The birth of PUMA universal industrial robot can be regarded as the maturity of industrial robots. Up to now, the whole mechanical structure, drive, control structure and programming language of industrial robots are basically the same as those in 1978.
The publication of 198 1 Robotics textbooks marks the maturity of this discipline. De Werther and Hartenberg (1954), Pierre (1968), Paul (1972), bolles (1976).
Because the main driving force of discipline development is innovation and depth, in the 1980s, the development of robotics mainly developed in breadth and depth, and the mainstream gradually deviated from the industrial background. However, because robotics is an engineering discipline, if it deviates too much from reality, it will be limited, that is, by market driving forces, such as so many researches on robot control and intelligence, but none of them are practical, and the research in this field will inevitably shrink. In recent years, robotics has realized this (that is, the research funding has decreased) and started to pay attention to new engineering topics. Behavior-based robotics and bio-robotics will push robotics to a new development time and space.
2) The main research contents of symbol-based robotics.
Referring to the textbook of classical robotics by K.S.Fu et al. (1988), the research contents of traditional robotics are as follows:
kinesiology
mechanics
Trajectory planning
Operator control (including position and force control)
Robot sensor
Path planning and task planning
All the above contents describe the robot or environment with symbols in Cartesian space (joint space can be mapped to Cartesian space), and then implement planning and control. This part of robotics is properly called symbol-based robotics. In addition, robot path planning and task planning are particularly related to symbol-based artificial intelligence, which is also called intelligent robot or robot based on artificial intelligence. The crisis brought by symbol-based artificial intelligence is naturally its crisis.
After ten years, the research on the development of robotics to depth and breadth includes:
The operation, dynamics, trajectory, control and coordination of multi-robot system.
Kinematics, Dynamics, Motion Planning and Control of Redundant Robots
Operation, dynamics, motion planning and control of elastic robot.
Robot information processing and task realization based on multi-sensor in complex environment.
The research of breadth development is as follows:
Structure, sensor, control and task planning of mobile robot.
Crawling, walking, flying, underwater, wheeled, crawler and other mobile robots belong to mobile robots, and the research content is rich. Because the robot moves in the workspace, the first problem is obstacle avoidance and navigation. Because mobile robots need to have the ability to move and work autonomously in a dynamic environment, another term, autonomous robot, mainly refers to mobile robots.
Because the working environment of mobile robots (dynamic and uncertain) is completely different from that of industrial robots (structured), new theories are needed, and it is this engineering need that gives birth to behavior-based robot technology and its development to bio-robot technology.
3) What is behavior-based robotics?
Behavior-based robotics opposes abstract definitions, so it is more suitable for philosophical thinking in this field to adopt scene-based and concrete explanations. The following table is a comparison between behavior-based robots and symbol-based robots in various aspects.