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Robotics (robot framework (ROS (motion Planning (moveit (motion planning…

- - - - 编译工具与命令行工具
        
        catkin，roscd，rosls等等
        学好linux基本的命令行操作和cmake或许会更高级一些。
      - Node工具 :star::star::star::star:
        
        rqt_graph
        查看Node连接图
        
        rqt（足矣）
        ros的GUI基于Qt。有界面的工具很多都可以在rqt中找到。
        
        visualiztion
        
        rviz
        
        gazebo
      - Simulator(Gazebo)
        
        PR2 Simulator
        
        Turtlebot Simulator
        
        Gazebo is a 3D dynamic simulator
    - - roscore是基本的
      - ros-industrial
        很大的一类，有关工业机械臂机器人系列的
        
        URDF
        用xml文件的形式描述机器人或机器人场景，类似于robowork中的workcell。
        
        3D models
        
        Visual quality STLs
        
        细节详尽，用于显示
        
        机器人厂家一般会提供3D模型
        
        Collision quality STLs
        
        一般取用3D模型为轮廓信息，用于碰撞检测，这样计算量较小
        
        可采用3D Mesh tool 比如MeshLab来转化生成Convex Hull(凸壳)
    - - tf是robot modeling部分，类似于robowork的运动学
      - 机器人与tf是如何关联起来的？通过urdf和robot_state_publisher. robot_state_publisher可以通过机器人的描述(urdf)实时发布更新tf。
    - - moveit
        
        motion planning framework
        
        robot modeling
        
        kinematics
        
        planing
        
        visualization plugin
        
        collision detection
      - Descartes
        Moveit主要是点到点的规划，而Descartes是一种让机器人沿着某些轨迹走的一种运动规划器，这个更适用于打磨的场景
      - OMPL
      - tesseract-and-trajopt
      - IKFast
        提供了一种非常快速的逆解器(基于分析方法，速度可以达到4微秒) :star::star::star::star:
- - - - Jacobian
        
        class
        
        analytical Jacobian
        
        geometric Jacobian: The relationship between joint velocities and end-effector linear and angular velocities
        
        usage
        
        determination of singular configuration
        
        analysis of redundancy
        
        expression of the relationship between forces and moments applied to the end-effector and the resulting joint torques at equilibrium configuration(statics).
        
        solve IK
      - concept
        
        geometric Jacobian:relationship between the joint velocities and the corresponding end-effector linear and angular velocity.
        discribed by a matrix
        
        analytical Jacobian: end-effector linear and angular velocity to Joint velocities
    - - usage
        
        motion simulation
        
        manipulation structure analysis
        
        control algorithm synthesis
      - 将机器人执行器纳入考虑范畴
      - approach
        
        Lagrange formulation（simpler and systematic）
        
        Newton-Eular formulation （recursive form）
      - dynamic model
        
        linearity in the parameters
        
        model identification
        
        transform to operational space
    - - concept
        
        two key problems of robotics
        
        inverse kinematics problem
        
        特点
        
        multiple solution may exeist
        
        Infinite solutions may exist(e.g. kinematicallly redundant manipulator)
        
        There might be no admissible solutions
        
        it is not always possible to find a closed-form solution
        
        solution
        
        algebraic intuition or geometric intuition
        
        numerical solution techniques
        
        direct kinematics problem
        
        Frame
        
        Fixed Frame
        
        Movable Frame
        
        Joint Space and Operational Space
        
        Joint Space: n joint variables
        
        Operational space: end-effector position and its orientation
        
        workspace
        
        reachable workspace
        
        dexterous workspace
        
        accuracy: because of mechanical tolerances
        
        repeatability: measure of the manipulator's ability to return to a previousely reached position. depends not only on the characteristics of the mechanical structure but also on the transducers and controller.
        
        Kinematic Redundancy
        
        it is possible to avoid obstacles in the workspace.
        
        if a joint of a redundant manipulator reaches its mechanical limit, there might be other joints that allow execution of the prescribed end-effector motion.
      - kinematic Calibration
  - - - motion planning
        (configuration space)
      - planning techniques for mobile robots
        
        retraction
        
        cell decomposition
        
        probabilistic
        
        artificial potential
    - - avoid collisions problem
        (graph search algorithm)
  - - - hardware/software architecture
      - programming environment
        
        teaching-by-showing
        
        robot-oriented programming
      - Human-Machine Interface
    - - joint space control strategies
        
        decentralized
        
        independent joint control
        (typically used for industrial robot control)
        
        centralized
        
        premise
        
        PD control with gravity compensation
        
        inverse dynamics control
        
        robust control
        
        adaptive control
        
        computed torque feedforward control
        
        operational space control
      - tracking problem
        follow a trajectory
      - regulation problem
        taking the robot to a given configuration
    - - 9 Force control
        the force exchanged at the contact with the environment
        
        concepts
        (natural extension of operational space control schemes to the constrained motion case.)
        
        impedance
        
        compliance
        
        Force control schemes
        
        the addion of an outer force feedback loop to a motion control scheme
        
        hydrid force/motion control strategy
      - 10 visual control
        get objects' position
        
        camera position and orientation estimate
        
        analytical technique
        
        numerical technique
        
        stereo vision
        
        camera calibration
        
        visual control strategies
        
        hybrid visual control
  - - - dynamic model
      - control
        
        trajectory tracking
        
        configuration regulation
        
        odometric localization control scheme
      - kinematic model
  - - - robotics在科研上的定义是：intelligent connection between perception and action。
      - Modelling：description of the robotic system's components
      - Robotics关注可以替代人执行任务的机器：物理活动和决策。
      - 目前典型的用于抓取的末端执行器的类型很单一，要获得更好的操作性和灵活性，多手指的机器手是个不错的选项。
      - 何为Motion Control：就是研究如何控制机器人运动？
    - - Robot Manipulator Mechanical Structure
        
        open-chain
        
        Manipulators
        
        spherical
        
        SCARA(Selective Compliance Assembly Robot Arm)
        本身就是为装配而生的。垂直方向提供很高的刚度，水平方向提供柔顺性。 SCARA结构特别适合垂直装配任务。
        
        anthropomorphic( 3 revolute joints)
        
        Cartesian( x y z) good mechanical stiffness good wrist positioning accuracy
        
        cylindrical good mechanical stiffness, wrist positioning accuracy decreased
        
        机器人之所以要讲刚度，是因为更高的刚度意味着更好的位置精度。
        ARM 提供 position，wrist提供orientation。合称为pose
        
        closed-chain
        
        Parallel
        high structural stiffness possibility to achieve high operational
        speeds
        
        Hybrid parallel-serial manipulator
        
        机器人应用时，机械臂选型要考虑以下因素：
        
        workspace dimensions and shape.
        
        the maximum payload
        
        positioning accuracy
        4 dynamic performance of manipulator
      - mobile robot 一般应用于服务领域，需要广泛，自治的运动能力。
        
        wheeled
        
        legged
    - - Manipulator在工业中的应用
        
        machining
        
        assembly
        
        grasp
      - 工业领域的一大特征是structured environment,几何和物理特性事先已知。因此不需要那么高的自治性。
      - 工业机器人相比数控机床的优势：多功能性（versatility）和灵活性。
        
        versatility：多功能性，end-effector可以随时替换。可以做多种事情。
        2.adaptability：使用传感器后，可以适应priori unknown的情况。
        3.positioning accuracy：引入反馈后，可获得更高的位置精度。
        4.execution programming：可对多种操作进行编程。
      - 制造业为什么需要机器人，而不是数控机床：提供automation，智能，替代工人。
      - automation的三个层级
        
        rigid automation 大量重复制造工作
        
        Programming automation 多品种小批量生产。当今大部分的产品都是programming automated system生产。
        
        Flexible automation 编程自动化系统的演化，减少编程时间，减少批次切换的时间。 FMS:需要将计算机技术与工业技术深度集成。（我们所做的工作，更像是这一块。）
      - 应用
        一个六轴工业机器人搭建成工作站，花费平均为20000-60000
        
        material handling
        point-to-point motion
        
        warehouse loading and unloading 仓库上下料
        
        mill and machine tool tending 机加工工具安放
        
        part sorting 物品分类
        
        packaging 打包
        
        palletizing 码垛
        
        一般采用AGV，相比传统的运送车，现代的AGV往往有板上微处理器，传感器（laser，odometry，GPS） mobile robot可以认为是AGV的自然演化，主要是具有了更强的自治性。
        
        machining
        (path motion)
        
        arc and spot welding 电弧焊和点焊
        
        painting and coating 喷油漆，涂料
        
        gluing and sealing 胶合密封
        
        laser and water jet cutting 切割
        
        milling and drilling 铣削和钻孔
        
        casting and die spraying 铸造和磨具喷涂
        
        deburring and grinding
        
        screwing, wiring and fastening 拧紧，接线，紧固
        
        assembly of mechanical and electrical group 装配机械和电气元件
        
        assembly of electronic broads 装配电路板
        
        perform measurement to test product quality
        
        object inspection
        对象检验
        
        contour finding
        查找轮廓
        
        detection of manufacturing imperfections
        探测制造缺陷
    - - Field Robots
        human beings could not survive or be exposed to unsustainable risks
        
        exploration
        
        report data on the environment
        remote operator, using suitable onboard sensors
      - Service Robots