Industrial Robot: An International Journal
The Pransky interview: Dr Steve Cousins, CEO, Savioke, Entrepreneur and Innovator Joanne Pransky
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To cite this document:
Joanne Pransky , (2016),"The Pransky interview: Dr Steve Cousins, CEO, Savioke, Entrepreneur and Innovator", Industrial D o w n l o a d e d b y 211.81.160.1 A t 22:48 11 M a r c h 2016 (P T )
COMMERCIAL INTERVIEW
The Pransky interview:Dr Steve Cousins,CEO,
Savioke,Entrepreneur and Innovator
Joanne Pransky
Emerald,Kenwood,California,USA
Abstract
Purpose –The following paper is a “Q&A interview”conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological,business and personal experience of a prominent,robotic industry engineer-turned successful business leader,regarding the commercialization and challenges of bringing technological inventions to market while overseeing a company.The paper aims to discuss these issues.
Design/methodology/approach –The interviewee is Dr Steve Cousins,a seasoned executive,entrepreneur and innovator with a strong track record for managing research and development organizations and realizing a signi?cant return on investment.Dr Cousins has dedicated the past near-decade of his life to the mission of building and deploying personal and service robotic technology to assist people.In this interview,Dr Cousins discusses some of the technical and business insights that have led to his most recent robotic advancements as Chief Executive Of?cer (CEO)of Savioke,a company that is creating autonomous robot helpers for the services industry.
Findings –Dr Cousins received his BS and MS degrees in computer science from Washington University,and holds a PhD in computer science from Stanford University.Dr Cousins managed the Advanced Systems Development Laboratory at the Xerox Palo Alto Research Center (PARC)and then went on to lead the IBM Almaden Research Center,one of the top human–computer interaction research groups in the world,as the Senior Manager of the User-Focused Systems Research Group.While at IBM,Dr Cousins earned a micro-MBA.
Originality/value –Dr Cousins is spearheading a new business model for robotics,Robots as a Service (RaaS),with Savioke’s ?agship mobile robot,Relay.Based on the information technology industry service trend of improving customer experiences,Savioke is successfully applying RaaS to the hospitality industry with about 10Relays at half a dozen US major hotels.Before founding Savioke,Dr Cousins was the President and CEO of Willow Garage,where he oversaw the creation of the robot operating system (ROS),the PR2robot and the open-source TurtleBot.In the last three years of his tenure at Willow Garage,Dr Cousins spun off eight successful companies:Suitable Technologies (maker of the Beam remote presence system);Industrial Perception,Inc.(acquired by Google in 2013);Redwood Robotics (acquired by Google in 2013);HiDOF (ROS and robotics consulting);Unbounded Robotics;The Open Source Robotics Foundation;The OpenCV Foundation;and The Open Perception Foundation.Dr Cousins is an active participant in the Robots for Humanity project.
Keywords Mobile robots,Robot design,Service robots,Man machine interface (MMI),Healthcare robots,Autonomous robots Paper type Case study
Pransky:As a PhD in computer science,what has it been like to now “major”in hardware as the CEO of two robot manufacturers?
Dr Cousins:I didn’t set out to be a robot manufacturing company per se.Originally,I was at IBM Research.I joined Willow Garage to help grow it into a world-class research and development (R&D)organization.What you ?nd out very quickly in robotics is that you can’t be a robot software company today because there’s no hardware to put it on.You
have to put the hardware and the software together and so very quickly,we started becoming a robotics company (Figure 1).Certainly hardware is different than software,and the differences are apparent in just sitting around the table with a combined team of software and hardware people trying to get them to speak the same language.As an example,in software engineering or computer science,you’re taught from early on about the waterfall model of design and how it’s not good for software.When I learned it,I didn’t have any understanding of why they were starting with this concept that they then said didn’t work.Now I understand that.The waterfall model of design better applies to hardware,because you don’t get to change hardware again.You do all these design steps in a sequence to make sure that you’ve got everything right before you spend the big money of creating the process for
The current issue and full text archive of this journal is available on Emerald Insight at:https://www.doczj.com/doc/3b13585645.html,/0143-991X.htm
Industrial Robot:An International Journal 43/1(2016)1–5
?Emerald Group Publishing Limited [ISSN 0143-991X][DOI 10.1108/IR-11-2015-0196]
Received 1November 2015Revised 1November 2015Accepted 2November 2015
D o w n l o a d e d b y 211.81.160.1 A t 22:48 11 M a r c h 2016 (P T )
manufacturing and going forward.That was sort of an interesting discovery for me.
Still,Willow Garage wasn’t really a manufacturing company.Our short-term goal was to give away ten PR2robots.Obviously,doing that required us to make ten PR2robots,but we certainly weren’t thinking of it as “manufacturing”.We ended up making 50of them,which started to be low-volume manufacturing.The challenging issue of building those robots was the part count.I learned just how hard it is to manage the supply chain when you have a large part count (Figure 2).
When I started Savioke ,we went through the same process.We wanted to do robot software but we realized we were going to have to do hardware as well.You could call making the hardware “manufacturing”,but sometimes you call it prototyping.This is where we are with Savioke –right on the line between prototyping and manufacturing.We’re putting robots out in the ?eld that we’ve made ourselves;I guess you could call that very low-volume manufacturing.In the early phases you can’t just take your prototype design and hand it to somebody and say,“Make me a lot of these”.It takes a lot more attention to detail than that.We decided on the parts that we needed to build the ?rst lot.Maybe on our own,we will build at least 30and perhaps as many as a hundred,even a couple of hundred.Once we’ve done enough so that we really understand what we’re doing,we can then transfer it over to a contract manufacturer.
Pransky:What is the present limiting factor that you see on the number of Relays that you could achieve?In other words is it establishing the initial sales/leasing program process?Is it the manufacturing?Is it deploying and integrating them into a hotel environment?(Figure 3)
Dr Cousins:They’re all challenging problems,as we’re trying to go into a market that’s never had robotics before.We’re building a robot that is different than most other robots in the world today.We’re doing something new on the “let’s get this out in the world side”.That requires you to build it,of course.But manufacturing I don’t think is the hardest part.I think selling it,getting people to understand what the value is,bringing them in and then also ?guring out how you’re going to get the robots installed and supported,at scale,are the challenging problems for us.
Pransky:Could you please explain the technical evolution from how you got from the mobile manipulators of PR2to the current design of Relay?And do you plan to add manipulators at some point in the future?
Dr Cousins:We found a strategy of minimum viable product .It’s a very popular strategy among start-ups in which you build the minimum product that’s viable and don’t do anything more than you have to in order to get something out the door.Even at Willow Garage,we went from a PR2with two seven-degree-of-freedom arms,designed for a much broader set of tasks to basically move around human environments to perform human tasks,down to a one-armed robot called Platform Bot that spun off as Unbounded Robotics.We knew when we started Savioke that it was going to be very expensive to build something like the PR2.We actually continued on the simplifying path and said,“Do we even need one humanoid-like Figure 3Savioke’s autonomous Relay’s ?rst application is in the hospitality industry relaying items to
guests
Figure 1Dr Steve Cousins with Savioke’s Relay
robot
Figure 2A PR2robot at UC Berkeley masters motor tasks via an innovative deep learning
algorithm
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arm?Or is that overkill?”Just because we humans have arms doesn’t mean that that’s the only way objects can be manipulated.What we found at Savioke were enough use-cases where somebody’s around at the robot loading and unloading time and therefore an item doesn’t need to be picked up automatically.That means that you don’t have to even have that manipulation.It was really a needs analysis driving the function as opposed to saying,“Why don’t we just add these arbitrary manipulators?”We could add anything but we only put materials in that have a value.
Pransky:Which country in the world do you expect to provide the greatest take-up of Relay?
Dr Cousins:The USA is probably the biggest market.If you’re looking at individual countries,China would probably be next.Parts of Europe have a strong pull for it.I think South America has a lot of interest in the robot culturally.Then there are places in the world such as Singapore and Japan that have aging populations and labor shortages which would use it for purely the labor savings.
Pransky:Do you see intellectual property (IP)as a good thing or a bad thing for start-up
companies?In other words,is it essential for survival or can it impede ideas and freethinking and restrict spin-offs?
Dr Cousins:I would say that intellectual property is necessary for venture-backed start-up companies.It’s very dif?cult to
raise money unless you can answer why it is that you have an advantage of some kind.Of course,you don’t have to have IP.You could have particularly strong connections with the market that give you a key advantage.But you have to show some kind of advantage position,such as why is this team going to succeed here?“Why doesn’t someone else come along and eat your lunch?”is a question that every investor that you talk to asks.Thus,you have to do something.But at the same time,intellectual property is friction.You can spend a lot trying to negotiate intellectual property deals.You can give it away.You can spend a long time litigating.You have to be careful about it.Intellectual property is not just patents.There’s a wide range of intellectual property that includes the artifacts that you build,the source code,the know-how,the business plans,etc.At Willow Garage we had the nice position that we could afford to be very open and make a lot of open-source contributions.In fact,that was kind of the philosophy there which gave us huge advantages in terms of recruiting and in terms of disseminating ROS (Robot Operating System).ROS took off because it was open-source.If your goal is to make a standard,open source is a great way to go.But if your goal is to raise venture capital,you have to ?gure out,what is my advantage with that?
Pransky:In 10years’time do you expect crowd funding to be a major player or a failed experiment?
Dr Cousins:I think crowd funding has a very big place.I don’t know whether it’s going to be either a failed experiment or a major player.People use crowd funding to test interest in a
Figure 4Pukas-Tecnalia developed a high-performance surfboard with integrated sensors using
ROS
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product,especially a new interest in a product in a way that’s hard to do otherwise.JIBO ,as an example,was very successful because they got a lot of crowd-funding and a lot of interest upfront early.There are a number of examples similar to that.If you’re going directly to consumers,crowd-funding is interesting.We’ve thought about crowd-funding for Savioke,but as a business we’re not likely to get hotels to contribute and to play the crowd-funding game.It’s something that’s really designed to the individual consumer.I don’t think it’s the way that you’re going to fund a serious development effort in most cases.
Pransky:What in your opinion is the most creative application you have seen thus far developed in ROS?(Figure 4)
Dr Cousins:The one that jumps out at me is not even a robot.As a matter of fact there was an old application where somebody put accelerometers on a surfboard and they went sur?ng.Then they used ROS to visualize the surfboard data.I thought that’s interesting because nobody thinks a surfboard is a robot.But here you have this technology being used outside of robotics to visualize the results.I thought that was really creative and clever.Creatively,ROS is just amazingly powerful for trying stuff out and putting it together.
Pransky:What was the most fun robot project that you ever worked on and why?
Dr Cousins:Probably Relay,the Savioke project,mainly because it’s a real application.Every day,I get to see Relay used in the world.I get to see kids reacting to the robot in hallways and it’s a lot of fun.
Pransky:What is the one idea that you’ve come up with that you are most proud of?
Dr Cousins:Probably Robots as a Service (RaaS).I think it’s a powerful idea and I think it may be one that gets pretty broadly adopted (Figure 5).
It’s a new time for robots and I think the word “robot”is a term that may be too broad.When you look at something like an industrial robot arm and you look at Relay,they’re very different.An industrial robot needs to work consistently over and over again with very high reliability,because if an industrial robot breaks down,it could cost the company millions of dollars per day if the line’s down.You can’t have an industrial robot failing.With a service robot,you can afford a little bit more downtime.It still has a high degree of reliability,but it’s just different.It’s not supposed to go superfast or super precisely.It’s supposed to do whatever it’s supposed to do well.I think it’s really interesting to think through the differences in the requirements between service robots and industrial robots.There really are more differences than at ?rst glance.
Pransky:Do you still have lots of ideas
yourself?Or do you see your role as one of guiding and supporting the ideas of others?
Dr Cousins:Both.I still have lots of ideas.I spend a lot of time thinking about what could be our next robot or our next market.At the same time,I recognize that when you’re part of a smart team everybody’s got a lot of ideas.But the question is how do you capture and marshal people’s great ideas?
Figure 5Dr Steve Cousins has initiated a new robotics business model,Robots as a Service
(RaaS)
Figure 6Dr Cousins is an active participant in the Robots for Humanity (R4H)project inspired by Henry
Evans
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Pransky:Can you describe what you consider your greatest failures to have been and share the lessons learned?And if you were to start all over again what,if anything,would you do differently?
Dr Cousins:While my classmates went off and founded Google,I stuck with my PhD program.I could look back and say,“I wish I had joined the Internet Revolution more directly”.But that’s a personal trade-off that I made.In terms of robotics,thinking about Willow Garage and Savioke,I think they’ve gone pretty well.I wish we had found a way to maybe start earlier onto the next generation of robots at Willow Garage so that we could have done something like Savioke earlier.I think that would have been interesting.But you can only do what you can do.
Pransky:What do you think PhD and Master of Engineering students should be doing while in school to best prepare them for the commercial side of robotics?
Dr Cousins:I think it’s helpful to take the business classes when they’re offered.I took a class called Business Management for Computer Scientists at Stanford .We went through Harvard Business School studies and strategies.That was very helpful to me down the road.At the time I didn’t do
a lot with it,but I think for anyone who’s entrepreneurial,it’s worth taking some business classes and learning the rudiments to understand and to see if you like the business aspects.
Pransky:It’s the year 2035.What projects are you working on?
Dr Cousins:In 2035,I’m probably working on Robots for Humanity projects that help people with disabilities.I think that’s actually a pretty plausible plan (Figure 6).
About the author
Joanne Pransky has been an Associate Editor for Industrial Robot Journal since 1995.Joanne was also one of the co-founders and the Director of Marketing of the world’s ?rst medical robotics journal,The International Journal of Medical Robotics and Computer Assisted Surgery .Joanne served as the Senior Sales and Marketing Executive for Sankyo Robotics,a world-leading manufacturer of industrial robot systems,for more than a decade.Joanne has also consulted for some of the industry’s top robotic and entertainment organizations,including Robotic Industries Association,Motoman,Staubli,KUKA Robotics,STRobotics,DreamWorks and Warner Bros.,as well as for Summit Entertainment’s ?lm “Ender’s Game”,in which she brought never-seen-before medical robots to the big screen.Joanne Pransky can be contacted at:drjoanne@robot.md
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D o w n l o a d e d b y 211.81.160.1 A t 22:48 11 M a r c h 2016 (P T )
英文原文出自《Advanced Technology Libraries》2008年第5期 Robot Robot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electronics and computer, automation control and drive, sensor and message dispose and artificial intelligence and so on. With the development of economic and the demand for automation control, robot technology is developed quickly and all types of the robots products are come into being. The practicality use of robot products not only solves the problems which are difficult to operate for human being, but also advances the industrial automation program. At present, the research and development of robot involves several kinds of technology and the robot system configuration is so complex that the cost at large is high which to a certain extent limit the robot abroad use. To development economic practicality and high reliability robot system will be value to robot social application and economy development. With the rapid progress with the control economy and expanding of the modern cities, the let of sewage is increasing quickly: With the development of modern technology and the enhancement of consciousness about environment reserve, more and more people realized the importance and urgent of sewage disposal. Active bacteria method is an effective technique for sewage disposal，The lacunaris plastic is an effective basement for active bacteria adhesion for sewage disposal. The abundance requirement for lacunaris plastic makes it is a consequent for the plastic producing with automation and high productivity. Therefore, it is very necessary to design a manipulator that can automatically fulfill the plastic holding. With the analysis of the problems in the design of the plastic holding manipulator and synthesizing the robot research and development condition in recent years, a economic scheme is concluded on the basis of the analysis of mechanical configuration, transform system, drive device and control system and guided by the idea of the characteristic and complex of mechanical configuration,
附录外文文献 原文 Industrial Robots Definition “A robot is a reprogrammable,multifunctional machine designed to manipulate materials,parts,tools,or specialized devices,through variable programmed motions for the performance of a variety of tasks.” --Robotics Industries Association “A robot is an automatic device that performs functions normally ascribrd to humans or a machine in orm of a human.” --Websters Dictionary The industrial robot is used in the manufacturing environment to increase productivity . It can be used to do routine and tedious assembly line jobs , or it can perform jobs that might be hazardous to do routine and tedious assembly line jobs , or it can perform jobs that might be hazardous to the human worker . For example , one of the first industrial robots was used to replace the nuclear fuel rods in nuclear power plants . A human doing this job might be exposed to harmful amounts of radiation . The industrial robot can also operate on the assembly line , putting together small components , such as placing electronic components on a printed circuit board . Thus , the human worker can be relieved of the routine operation of this tedious task . Robots can also be programmed to defuse bombs , to serve the handicapped , and to perform functions in numerous applications in our society . The robot can be thought of as a machine that will move an end-of-arm tool , sensor , and gripper to a preprogrammed location . When the robot arrives at this location , it will perform some sort of task . This task could be welding , sealing , machine loading , machine unloading , or a host of assembly jobs . Generally , this work can be accomplished without the involvement of a human being , except for programming and for turning the system on and off . The basic terminology of robotic systems is introduced in the following :
中英文资料对照外文翻译 FEM Optimization for Robot Structure Abstract In optimal design for robot structures, design models need to he modified and computed repeatedly. Because modifying usually can not automatically be run, it consumes a lot of time. This paper gives a method that uses APDL language of ANSYS 5.5 software to generate an optimal control program, which mike optimal procedure run automatically and optimal efficiency be improved. 1）Introduction Industrial robot is a kind of machine, which is controlled by computers. Because efficiency and maneuverability are higher than traditional machines, industrial robot is used extensively in industry. For the sake of efficiency and maneuverability, reducing mass and increasing stiffness is more important than traditional machines, in structure design of industrial robot. A lot of methods are used in optimization design of structure. Finite element method is a much effective method. In general, modeling and modifying are manual, which is feasible when model is simple. When model is complicated, optimization time is longer. In the longer optimization time, calculation time is usually very little, a majority of time is used for modeling and modifying. It is key of improving efficiency of structure optimization how to reduce modeling and modifying time. APDL language is an interactive development tool, which is based on ANSYS and is offered to program users. APDL language has typical function of some large computer languages. For example, parameter definition similar to constant and variable definition, branch and loop control, and macro call similar to function and subroutine call, etc. Besides these, it possesses powerful capability of mathematical calculation. The capability of mathematical calculation includes arithmetic calculation, comparison, rounding, and trigonometric function, exponential function and hyperbola function of standard FORTRAN language, etc. By means of APDL language, the data can be read and then calculated, which is in database of ANSYS program, and running process of ANSYS program can be controlled.
外文翻译 专业机械电子工程 学生姓名张华 班级 B机电092 学号 05 指导教师袁健
外文资料名称：Research，design and experiment of end effector for wafer transfer robot 外文资料出处：Industrail Robot：An International Journal 附件： 1.外文资料翻译译文 2.外文原文
晶片传送机器人末端效应器研究、设计和实验 刘延杰、徐梦、曹玉梅 张华译 摘要：目的——晶片传送机器人扮演一个重要角色IC制造行业并且末端执行器是一个重要的组成部分的机器人。本文的目的是使晶片传送机器人通过研究其末端执行器提高传输效率,同时减少晶片变形。 设计/方法/方法——有限元方法分析了晶片变形。对于在真空晶片传送机器人工作,首先,作者运用来自壁虎的超细纤维阵列的设计灵感研究机器人的末端执行器,和现在之间方程机器人的交通加速度和参数的超细纤维数组。基于这些研究,一种微阵列凹凸设计和应用到一个结构优化的末端执行器。对于晶片传送机器人工作在大气环境中,作者分析了不同因素的影响晶片变形。在吸收面积的压力分布的计算公式,提出了最大传输加速度。最后, 根据这些研究得到了一个新的种末端执行器设计大气机器人。 结果——实验结果表明, 通过本文研究应用晶片传送机器人的转换效率已经得到显着提高。并且晶片变形吸收力得到控制。 实际意义——通过实验可以看出,通过本文的研究,可以用来提高机器人传输能力, 在生产环境中减少晶片变形。还为进一步改进和研究末端执行器打下坚实的基础,。 创意/价值——这是第一次应用研究由壁虎启发了的超细纤维阵列真空晶片传送机器人。本文还通过有限元方法仔细分析不同因素在晶片变形的影响。关键词：晶片传送机器人末端执行器、超细纤维数组、晶片 1.介绍
中英文对照资料外文翻译文献 FEM Optimization for Robot Structure Abstract In optimal design for robot structures, design models need to he modified and computed repeatedly. Because modifying usually can not automatically be run, it consumes a lot of time. This paper gives a method that uses APDL language of ANSYS 5.5 software to generate an optimal control program, which mike optimal procedure run automatically and optimal efficiency be improved. 1）Introduction Industrial robot is a kind of machine, which is controlled by computers. Because efficiency and maneuverability are higher than traditional machines, industrial robot is used extensively in industry. For the sake of efficiency and maneuverability, reducing mass and increasing stiffness is more important than traditional machines, in structure design of industrial robot. A lot of methods are used in optimization design of structure. Finite element method is a much effective method. In general, modeling and modifying are manual, which is feasible when model is simple. When model is complicated, optimization time is longer. In the longer optimization time, calculation time is usually very little, a majority of time is used for modeling and modifying. It is key of improving efficiency of structure optimization how to reduce modeling and modifying time. APDL language is an interactive development tool, which is based on ANSYS and is offered to program users. APDL language has typical function of some large computer languages. For example, parameter definition similar to constant and variable definition, branch and loop control, and macro call similar to function and subroutine call, etc. Besides these, it possesses powerful capability of mathematical calculation. The capability of mathematical calculation includes arithmetic calculation, comparison, rounding, and trigonometric function, exponential function and hyperbola function of standard FORTRAN language, etc. By means of APDL language, the data can be read and then calculated, which is in database of ANSYS program, and running process of ANSYS program can be controlled.
机器人技术发展中英文对照外文翻译文献(文档含英文原文和中文翻译)
外文资料： Robots First, I explain the background robots, robot technology development. It should be said it is a common scientific and technological development of a comprehensive results, for the socio-economic development of a significant impact on a science and technology. It attributed the development of all countries in the Second World War to strengthen the economic input on strengthening the country's economic development. But they also demand the development of the productive forces the inevitable result of human development itself is the inevitable result then with the development of humanity, people constantly discuss the natural process, in understanding and reconstructing the natural process, people need to be able to liberate a slave. So this is the slave people to be able to replace the complex and engaged in heavy manual labor, People do not realize right up to the world's understanding and transformation of this technology as well as people in the development process of an objective need. Robots are three stages of development, in other words, we are accustomed to regarding robots are divided into three categories. is a first-generation robots, also known as teach-type robot, it is through a computer, to control over one of a mechanical degrees of freedom Through teaching and information stored procedures, working hours to read out information, and then issued a directive so the robot can repeat according to the people at that time said the results show this kind of movement again, For example, the car spot welding robots, only to put this spot welding process, after teaching, and it is always a repeat of a work It has the external environment is no perception that the force manipulation of the size of the work piece there does not exist, welding 0S It does not know, then this fact from the first generation robot, it will exist this shortcoming, it in the 20th century, the late 1970s, people started to study the second-generation robot, called Robot with the feeling that This feeling with the robot is similar in function of a certain feeling, for instance, force and touch, slipping, visual, hearing and who is analogous to that with all kinds of feelings, say in a robot grasping objects, In fact, it can be the size of feeling out, it can through visual, to be able to feel and identify its shape, size, color Grasping an egg, it adopted a acumen, aware of its power and the size of the slide.
机器人技术发展趋势 作者:JimPinto, 圣地亚哥,美国中部.美国 谈到机器人,就如同科幻一般。但是,仅仅因为机器人在过去几十年里没有辜负自己的承诺,并不表示它们不会早到或者迟到。事实上,一些先进技术导致的机器人的时代更近更小、更便宜、更实用、更具成本效益。 肌肉,骨骼与大脑 任何机器人都有三方面: ?肌肉：有效联系物理载荷以便机器人运动。 ?骨骼：机器人的物理结构与决定于其所从事的工作; 考虑到有效载荷这就决定了机器人的大小和重量。 ?大脑：机器人智能; 它可以独立思考和做什么; 需要多少人工互动。 由于机器人已经被描绘于科幻世界,许多人期望机器人的外表更人性化。其实机器人的外表决定于它的功能和任务。不少机器,一点也不像人也明确地列为机器人。同样,有些像人的机器人也脱离不了机械结构或者玩具。 起初的机器人是又大，又只有很小的力。老水流动力机器人被用于三D环境：阴暗、肮脏、危险。由于第一产业的技术进步,已经完全改进了机器人的能力、业绩和战略利益。例如,80年代机器人由水流驱动过渡成为电力驱动单位。改进了性能和准确性。 工业机器人已在工作 在当今世界机器人数量已接近100万,有将近一半的在日本,仅有15%在美国。数十年前,90%的机器人用于汽车制造业,通常用于做大量重复的工作。今天只有50%用于汽车厂,而另一半分布于工厂、实验室、仓库、发电厂、医院和其他许多行业。 机器人用于产品装配、危险物品处理、油漆喷雾、切割、抛光、产品的检验。那些被用于各式各样的任务的机器人数量,例如下水道清理,查找炸弹和操作日趋复杂的手术,在将来将持续上涨。 机器人智能 即使原始的智力，机器人已经被证明在生产力、效率和质量方面能够创造良好收益。除此之外,一些"聪明"机器人没有用于制造业; 他们被用于太空探险、外科遥控，甚至宠物，就像索尼的Aibo机械狗。从某种意义上说,一些其他应用表明机器人可能的用途，如果生产厂家认识到,工业机器人并不是要局限于一个方面,或者受限制昨日机械概念。 伴随着迅速增长的电力微处理器和人工智能技术,大大提高了机器人其潜在的弹性的自动化工具。新增加的智能机器人的应用要求先进的智能。机器人技术融入各种辅助技术—机器视觉、传感器(接触),高级技工及语音识别。这一令人振奋的成果代表了新水平的工作应用,比以往任何时候都认为是实际的机器人。实行综合的机器人视觉和触觉急剧地改变了新的产品和生产体系的速度和效率。机器人变得如此精确,以至于机器人可以应用于所有手工的场所不再是一个不可能的观点。半导体制造业是一个例子,高度一致的吞吐量和质量,不能靠手工或简单现机械就能实现。此外,通过使那些快速产品与传统硬质工具不相匹配部分
外文资料译文 工业机器人的发展 一、工业机器人是机器人的一种，它由操作机、控制器、伺服驱动系统和检测传感器装置构成，是一种仿人操作自动控制，可重复编程，能在三维空间完成各种作业的机电一体化的自动化生产设备，特别适合于多品种，变批量柔性生产。它对稳定和提高产品质量，提高生产效率，改善劳动条件的快速更新换代起着十分重要的作用。 广泛的应用工业机器人，可以逐步改善劳动条件，更强与可控的生产能力，加快产品更新换代。提高生产效率和保证产品质量，消除枯燥无味的工作，节约劳动力，提供更安全的工作环境，降低工人的劳动强度，减少劳动风险，提高机床的效率，减少工艺过程中的工作量及降低停产时间和库存，提高企业竞争力。 1、关节的类型 下面罗列出在工业机器人手臂上使用的几类关节，机械手臂由其中某种关节组成，或由几种关节复合而成。 （1）回转关节：回转关节允许在两个连杆之间进行转动或旋转运动； （2）柱状关节：柱状关节允许在两个连杆之间进行直线运动； （3）球窝关节：球窝关节允许在两个连杆之间进行三种转动或旋转运动。由于很难驱动，球窝关节在工业机器人上很少使用。 2、机器人的类别 可以把机器人按它们的关节类型分为下列五组，其中距机器人基座最近的那三组关节将决定机器人的类别，其他两组关节给终端执行器以更大的运动柔性。 （1）笛卡尔型 （2）圆柱形 （3）球面型
（4）平面关节型 （5）垂直关节型 3、自由度 机械手臂所具有的“自由度”是定义其关节数的常用术语。每一个关节允许在两个连杆之间进行相对运动，形成一个自由度。若能沿着或绕着两个关节运动时，就是两个自由度，其余依次类推。多数机器人有4-6个自由度。与人相比，从肩膀到手腕，人的胳膊共有7个自由度，这还不包括手，它单独就有22个自由度！ 4、机器人的基本组件 机器人系统有一系列基本组件： （1）操作机。 （2）控制器。 （3）动力供给。 （4）终端执行器（夹持器、点焊机、MIG焊机等） 5、驱动装置 操作机的运动由传动器或驱动装置控制，传动器或驱动装置使各轴在工作单元内运动。驱动装置可使用电能、液压能或气压能工作。驱动系统提供的能量通过各种机械驱动装置转换成机械能。各驱动系统用机械联动装置连接起来，而这些联动装置又驱动机器人的各个轴的运动。机械联动装置可由链、齿轮及滚珠丝杠组成。 6、随着科技的不断进步，工业机器人的发展过程可分为三代 第—代为示教再现型机器人，它主要由机器手控制器和示教盒组成，可按预先引导动作记录下信息重复再现执行，当前工业中应用最多。 第二代为感觉型机器人，如有力觉触觉和视觉等，它具有对某些外界信息进行反馈调整的能力，目前已进入应用阶段。 第三代为智能型机器人它具有感知和理解外部环境的能力，在工作环境改变的情况下，也能够成功地完成任务，它尚处于实验研究阶段。 二、美国是机器人的诞生地，早在1961年，美国的Consolidated Control Corp和AMF公司联合研制了第一台实用的示教再现机器人。经过40多年的发展，
工业机器人发展毕业论文中英文资料外文翻译文献工业机器人发展 中英文资料外文翻译文献 The development of industrial robots Industrial robot is a robot, it consists of a CaoZuoJi. Controller. Servo drive system and detection sensor device composition, it is a kind of humanoid operating automatic control, can repeat programming, can finish all kinds of assignments in three difficulties in authorship space the electromechanical integration automation production equipment, especially suitable for many varieties, become batch flexible production. It to stabilize and improve the product quality, raise efficiency in production, improve working conditions of the rapid renewal plays an extremely important role. Widely used industrial robots can gradually improve working conditions, stronger and controllable production capacity, speed up product updating and upgrading. Improve production efficiency and guarantee the quality of its products, eliminate dull work, save labor, provide a safe working environment, reduces the labor intensity, and reduce labor risk, improve the machine tool, reduce the workload and reduce process production time and inventory, enhance the competitiveness of enterprises. As technology advances, the development of industrial robot, the process can be divided into three generations -- generation, for
毕业设计(论文)外文 资料翻译 系部：机械工程 专业：机械工程及自动化 姓名： 学号： 外文出处：Control and (用外文写) Robotics(CRB) Technical Report 附件：1.外文资料翻译译文；2.外文原文。
附件1：外文资料翻译译文 轮式移动机器人的导航与控制 摘要：本文研究了把几种具有导航功能的方法运用于不同的控制器开发，以实现在一个已知障碍物前面控制一个开环系统（例如：轮式移动机器人）执行任务。第一种方法是基于三维坐标路径规划的控制方法。具有导航功能的控制器在自由配置的空间中生成一条从初始位置到目标位置的路径。位移控制器控制移动机器人沿设置的路径运动并停止在目标位置。第二种方法是基于二维坐标路径规划的控制方法。在二维平面坐标系中建立导航函数，基于这种导航函数设计的微控制器是渐进收敛控制系统。仿真结果被用来说明第二种控制方法的性能。 1介绍
很多研究者已经提出不同算法以解决在障碍物杂乱的环境下机器人的运动控制问题。对与建立无碰撞路径和传统的路径规划算法，参考文献[19]的第一章第九部分中提供了的全面总结。从Khatib在参考文献[13]的开创性工作以来，很显然控制机器人在已知障碍物下执行任务的主流方法之一依然是构建和应用位函数。总之，位函数能够提供机器人工作空间、障碍位置和目标的位场。在参考文献[19]中提供对于位函数的全面研究。应用位函数的一个问题是局部极小化的情况可能发生以至于机器人无法到达目标位置。不少研究人士提出了解决局部极小化错误的方法（例如参考文献[2], [3],[5], [14], [25]）。其中Koditschek 在参考文献[16]中提供了一种解决局部极小化错误的方法，那是通过基于一种特殊的位函数的完整系统构建导航函数，此函数有精确的数学结构，它能够保证存在唯一最小值。 在针对标准的 (完整的)系统的先前的结果的影响下, 面对更多的具有挑战性的非完整系统，越来越多的研究集中于位函数方法的发展(例如.,机器人)。例如, Laumond 等人 [18] 用几何路线策划器构建了一条忽略机器人非完全约束 的无障碍路线, 然后把几何线路分成更短的线路来满足非完全限制,然后应用最佳路线来减少路程。在 [10] 和 [11]中, Guldner 等人使用间断变化的模式控制器迫使机器人的位置沿着位函数的负倾斜度变动，及其定位与负倾斜度一致。在[1], [15], 和 [21]中,持续的位场控制器也保证了位函数的负倾斜度的位置追踪和定位追踪。在[9]中，面对目标因为周边的障碍物而不能达到这一情况时，Ge和Cui 最近提出一种新的排斥的位函数的方法来解决这一问题。在 [23]和[24]中, Tanner 等人采用[22] 中提出的导航函数研究和偶极位场概念为一个 不完全移动操纵器建立导航函数控制器。特别是, [23] 和 [24] 中的结果使用了间断控制器来追踪导航函数的负倾斜度, 在此过程中，一个不平坦的偶极位场使得机器人按照预想的定位拐入目标位置。 本文介绍了为不完全系统达到导航目标的两种不同的方法。在第一个方法中, 产生了一个三维空间似导航函数的预想的轨道，它接近于机器人自由配置空间上的唯一最小值的目标位置和定位。然后利用连续控制结构使机器人沿着这条路线走，在目标位置和定位点停下(例如,控制器解决一体化的追踪和调节问题)。这种方法特别的地方是机器人根据预想的定位到达目标位置，而不需要像许多先前
外文翻译 外文资料： Robots First, I explain the background robots, robot technology development. It should be said it is a common scientific and technological development of a comprehensive results, for the socio-economic development of a significant impact on a science and technology. It attributed the development of all countries in the Second World War to strengthen the economic input on strengthening the country's economic development. But they also demand the development of the productive forces the inevitable result of human development itself is the inevitable result then with the development of humanity, people constantly discuss the natural process, in understanding and reconstructing the natural process, people need to be able to liberate a slave. So this is the slave people to be able to replace the complex and engaged in heavy manual labor, People do not realize right up to the world's understanding and transformation of this technology as well as people in the development process of an objective need. Robots are three stages of development, in other words, we are accustomed to regarding robots are divided into three categories. is a first-generation robots, also known as teach-type robot, it is through a computer, to control over one of a mechanical degrees of freedom Through teaching and information stored procedures, working hours to read out information, and then issued a directive so the robot can repeat according to the people at that time said the results show this kind of movement again, For example, the car spot welding robots, only to put this spot welding process, after teaching, and it is always a repeat of a work It has the external environment is no perception that the force manipulation of the size of the work piece there does not exist, welding 0S It does not know, then this fact from the first generation robot, it will exist this shortcoming, it in the 20th century, the late 1970s, people started to study the second-generation robot, called Robot with the feeling that This feeling with the robot is similar in function of a certain feeling, for