WEBVTT 00:00:00.000 --> 00:00:14.700 Diese Veranstaltung wird präsentiert von 00:00:14.720 --> 00:00:24.470 Stanford Center für berufliche Weiterbildung 00:00:24.490 --> 00:00:27.110 Okay, lassen Sie uns anfangen. 00:00:27.130 --> 00:00:29.790 Willkommen zur Einführung in die Robotik, 2008. NOTE Paragraph 00:00:29.810 --> 00:00:34.210 Ihnen allen ein frohes Neues Jahr. 00:00:34.230 --> 00:00:40.250 Also, in Einführung in die Robotik werden wir alle Grundlagen der 00:00:40.270 --> 00:00:44.880 Robotik abdecken -- das heißt, wir sehen uns die 00:00:44.900 --> 00:00:48.879 mathematischen Modelle an, die Robotersysteme 00:00:48.900 --> 00:00:51.890 auf viele verschiedene Arten repräsentieren. 00:00:51.910 --> 00:00:56.599 Und, genau genommen, haben Sie diese eben im Kurs gesehen. 00:00:56.620 --> 00:00:57.620 Sie haben eine Simulation eines humanoiden Robotersystems gesehen, 00:00:57.620 --> 00:01:03.610 Sie haben eine Simulation eines humanoiden Robotersystems gesehen, 00:01:03.630 --> 00:01:05.400 das wir gleichzeitig kontrollieren. 00:01:05.420 --> 00:01:09.550 Und wenn Sie über ein Modell nachdenken, das Sie 00:01:09.570 --> 00:01:12.820 für die Simulation verwenden können, müssen Sie die 00:01:12.840 --> 00:01:14.400 Kinematiken des Systems abbilden. 00:01:14.420 --> 00:01:19.520 Sie müssen ebenfalls das System in Bewegung setzen können, 00:01:19.540 --> 00:01:23.410 indem Sie die Motoren antreiben und die richtigen Drehmomente finden, damit 00:01:23.430 --> 00:01:24.430 sich der Roboter bewegt. 00:01:24.430 --> 00:01:27.030 Lassen Sie uns noch einmal zurück gehen -- 00:01:27.050 --> 00:01:30.660 ich denke, das ist recht interessant. 00:01:30.680 --> 00:01:36.320 Also, hier ist ein Roboter, den Sie steuern wollen. 00:01:36.340 --> 00:01:42.480 Und die Frage lautet: Wie können wir uns etwas einfallen lassen, 00:01:42.500 --> 00:01:46.080 wie wir die Hände so steuern können, dass sie sich von einer Postion zu einer anderen bewegen? 00:01:46.100 --> 00:01:50.390 Und wenn Sie über dieses Problem nachdenken, gibt es viele 00:01:50.410 --> 00:01:53.550 verschiedene Möglichkeiten, den Roboter zu steuern. 00:01:53.570 --> 00:01:56.940 Zunächst müssen wir wissen, wo der Roboter ist, 00:01:56.960 --> 00:01:59.910 und um zu wissen wo der Roboter ist, brauchen Sie Sensoren. 00:01:59.930 --> 00:02:02.230 Also, welche Arten von Sensoren würden Sie 00:02:02.250 --> 00:02:05.410 auf dem Roboter anbringen, um zu wissen, wo der Roboter ist? 00:02:05.430 --> 00:02:08.020 Vorschläge? 00:02:08.038 --> 00:02:09.070 >> GPS. 00:02:09.090 --> 00:02:10.090 >> GPS? 00:02:09.180 --> 00:02:10.180 Okay. 00:02:09.270 --> 00:02:15.840 Naja, gut, wie viele Parameter können Sie mit GPS messen? 00:02:15.860 --> 00:02:21.710 Naja, gut, wie viele Parameter können Sie mit GPS messen? 00:02:21.730 --> 00:02:22.730 Das ist in Ordnung. 00:02:22.260 --> 00:02:24.480 Ich meine, wir können es ausprobieren. 00:02:24.500 --> 00:02:25.750 Wie viele Parameter können Sie -- 00:02:25.560 --> 00:02:27.830 Was können Sie über GPS bestimmen? 00:02:27.850 --> 00:02:29.100 >> Vermutlich X- und Y-Koordinaten? 00:02:28.300 --> 00:02:37.040 >> Ja, Sie können X und Y lokalisieren, für den Ort, 00:02:37.060 --> 00:02:38.060 an dem sich das GPS befindet, richtig? 00:02:38.060 --> 00:02:40.640 Aber wie viele Freiheitsgrade haben Sie? 00:02:40.660 --> 00:02:42.780 Wie viele Körper bewegen sich hier? 00:02:42.800 --> 00:02:49.260 Wenn ich das hier bewege -- wie hier zum Beispiel -- wie viele Körper bewegen sich? 00:02:49.280 --> 00:02:50.530 Wie viele GPS-Geräte wollen Sie 00:02:50.480 --> 00:02:55.070 auf dem Roboter anbringen? 00:02:55.090 --> 00:02:58.090 (Gelächter) Sie brauchen etwa 47, wenn Sie 00:02:57.950 --> 00:03:00.959 47 Freiheitsgrade haben, und das wird nicht funktionieren. 00:03:00.980 --> 00:03:02.230 Es ist zu teuer. 00:03:01.430 --> 00:03:03.330 Andere Vorschläge? 00:03:03.350 --> 00:03:04.350 Wir brauchen eine andere Lösung. 00:03:03.710 --> 00:03:08.090 >> Wie wäre es mit Drehgebern? 00:03:08.110 --> 00:03:09.110 >> Drehgeber, ja, Drehgeber. 00:03:08.800 --> 00:03:09.800 Also, ein Drehgeber misst 00:03:09.070 --> 00:03:11.489 ein Freiheitsgrad, nur den Winkel. 00:03:11.510 --> 00:03:13.260 Wie viele Drehgeber brauchen wir 00:03:13.280 --> 00:03:14.780 für 47 Freiheitsgrade? 00:03:14.730 --> 00:03:18.790 Vierundsiebzig. 00:03:18.810 --> 00:03:23.080 Gut, das gibt Ihnen die relative Position, aber wir werden 00:03:23.100 --> 00:03:28.130 nicht wissen, ob sich dieser Aufbau hier oder dort befinde, oder? 00:03:28.150 --> 00:03:31.710 Also brauchen Sie ein GPS-Gerät um vielleicht ein Objekt zu lokalisieren 00:03:31.730 --> 00:03:33.730 und dann können Sie alles relativ dazu anordnen, wenn Sie -- 00:03:33.690 --> 00:03:37.180 Eine andere Idee, den Aufbau zu lokalisieren --- 00:03:37.200 --> 00:03:38.200 >> Differenzielle Navigation 00:03:38.200 --> 00:03:46.560 >> Ja, indem Sie von einer zu Beginn bekannten Position integrieren, oder 00:03:46.580 --> 00:03:52.610 Sie benutzen >> Bildverarbeitungsysteme. 00:03:52.630 --> 00:03:55.519 >> Bildverarbeitungsysteme um zumindest ein oder zwei Objekte zu lokalisieren, 00:03:55.540 --> 00:03:58.950 dann wissen Sie, wo der Roboter ist, und die relative Position, 00:03:58.970 --> 00:04:02.460 die Geschwindigkeiten könnten während der Bewegung bestimmt werden. 00:04:02.480 --> 00:04:11.519 Also, sobald wir den Roboter lokalisiert haben, müssen wir 00:04:11.540 --> 00:04:16.159 eine Möglichkeit finden, zu beschreiben wo sich die Objekte befinden. 00:04:16.180 --> 00:04:17.740 Also, wo ist die rechte Hand? 00:04:17.760 --> 00:04:18.760 Wo ist die linke Hand? 00:04:18.760 --> 00:04:20.300 Wo -- Also Sie brauchen -- 00:04:20.320 --> 00:04:22.390 Was brauchen Sie hier? 00:04:22.410 --> 00:04:30.480 Sie müssen einen Zusammenhang finden zwischen den starren Körpern, 00:04:30.500 --> 00:04:35.220 sodass, sobald der Roboter steht, Sie wissen 00:04:35.240 --> 00:04:39.090 wo Sie -- wo der Arm positioniert wird, wo die Hand 00:04:39.110 --> 00:04:42.210 posititioniert wird, wo der Kopf positioniert wird. 00:04:42.230 --> 00:04:49.060 Also brauchen Sie etwas, das aus der Wissenschaft der - 00:04:49.080 --> 00:04:54.979 Nein, ich rede nicht von Sensoren. 00:04:55.000 --> 00:04:57.250 Wir haben die Informationen, aber wir müssen bestimmen -- 00:04:56.930 --> 00:04:57.930 >> Ein Modell. 00:04:57.930 --> 00:05:02.590 >> Ein Modell, das Bewegungsmodell. 00:05:02.610 --> 00:05:04.880 Im Prinzip brauchen wir die Kinematiken. 00:05:04.900 --> 00:05:11.280 Und wenn es sich bewegt erzeugt es Dynamiken, richtig? 00:05:11.300 --> 00:05:13.690 Also müssen Sie die Anfangskräfte bestimmen. 00:05:13.710 --> 00:05:15.140 Sie müssen wissen -- 00:05:15.160 --> 00:05:17.660 Also, wenn Sie die rechte Hand bewegen, befindet sich plötzlich 00:05:17.380 --> 00:05:18.380 alles in Bewegung, richtig? 00:05:18.380 --> 00:05:22.730 Sie haben diese Verbindung zwischen den starren Körpern, die 00:05:22.750 --> 00:05:24.310 verbunden sind. 00:05:24.330 --> 00:05:27.520 Also müssen wir die Dynamiken bestimmen. 00:05:27.540 --> 00:05:33.480 Und wenn Sie einmal alle Modelle haben, müssen Sie darüber nachdenken, 00:05:33.500 --> 00:05:37.200 wie Sie den Roboter steuern. 00:05:37.220 --> 00:05:42.330 Also, wie steuern wir einen Roboter? 00:05:42.350 --> 00:05:47.580 Nehmen wir an, Ich würde das hier so bewegen. 00:05:47.600 --> 00:05:49.700 Wie machen wir das? 00:05:49.720 --> 00:05:52.470 Die Hand - ich möchte sie dorthin bewegen. 00:05:50.820 --> 00:05:51.820 Entschuldigung? 00:05:51.820 --> 00:05:52.820 >> Forwärts- und Rückwärtskinematik 00:05:52.090 --> 00:05:53.090 >> Oh, sehr gut. 00:05:52.360 --> 00:06:05.400 Also, die Vorwärtskinematik gibt Ihnen die Position der 00:06:05.420 --> 00:06:06.420 Hand. 00:06:06.420 --> 00:06:09.340 Die Rückwärtskinemaitk gibt Ihnen - 00:06:09.360 --> 00:06:12.260 00:06:12.280 --> 00:06:13.780 00:06:13.800 --> 00:06:16.050 00:06:15.800 --> 00:06:19.060 00:06:19.080 --> 00:06:24.400 00:06:24.420 --> 00:06:25.670 00:06:25.280 --> 00:06:29.599 00:06:29.620 --> 00:06:32.460 00:06:32.480 --> 00:06:34.070 00:06:34.090 --> 00:06:41.859 00:06:41.880 --> 00:06:43.550 00:06:43.570 --> 00:06:46.630 00:06:46.650 --> 00:06:50.929 00:06:50.950 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