ROBOT Ver 1.0

, ROBOT , . ISO , JIS , KS , ROBOT , " " .

2() Binarization 1 0 2 .

3 Three-dimensionalsensing

3 .

3D 3D vision () ().

AND-OR AND-OR graph , () , AND OR .

CP Continuous pathcontrol

.

, , ,

ROBOT

DH Denavit-Hartenberg model

, , , 4 Denavit-Hartenberg () .

GPSGlobalpositioningsystem

.

PTP Pose-to-posecontrol

.

RCC Remote centercompliance device

, (RCC) . "RCC", () .

() ()

Motion space () ( ) (). (), .

Guard

, . . , , , , , , , .

()

Manipulabilitymeasure

().

() Indirect teaching .

Sensory control .

Sensorycontrolled robot

.

() Information ofemotion and humansensibility

, .

1 / 26

ROBOT Ver 1.0

,

Reduced speedcontrol,Slow speedcontrol

(), , 250mm/s ( , Reduced speed) .

() Stiffness , ().

Gantry robot(Arm) , . "(Gantry)",() .

Distancerepeatability

.

,

Distance sensor,Range finder

1 , .

Distance accuracy (6) .

Gait diagram (), , .

() Gait , () . Path . Path acceleration .

Path planning , , .

Pathrepeatability

.

Path generation . Path generation . Path velocity .

Path velocityrepeatability

.

Path velocityfluctuation

() () .

Path velocityaccuracy

.

Path guide method

, () . () , () , () .

Path accuracy , .

Path optimization .

Path learning .

Path point . Via point .

Fixed sequencemanipulator

() , (Physicalalteration) , .

Insect type robot 6 () , .

Spatial filter() (Slit) .

Joint space () ( ) .

Leg with rotaryjoint,Articulated leg

, .

2 / 26

ROBOT Ver 1.0

Anthropomorphicrobot,Articulated robot

(Arm) , 3 .

() Teaching, (Task) .

()

Teach programming

.a) .b) .c) .

() Teacher .

() Spherical joint1 3 . " (Ball joint)" .

(),()

Drive wheel,Driving wheel

, .() Driving wheel Drive power ().

Constraint space () , .

()

Fine motionplanning

() .

() Multiple robots .

Trajectoryplanning

.

Trajectorygeneration

.

Trajectorycontrol

.

Trajectoryoperated robot

, 3 . , .

Trajectorylearning

.

() Trajectory .

Gross motionplanning

(Gross motion) .

,()

Gripper

."(Hand)" . "(, Grasp)" , "(Hold)" , .

3 / 26

ROBOT Ver 1.0

Polar robot,Spherical robot

(Arm) , 2 1 , .

/

Proximity sense/Proximity sensor

, ./ .

Functional model , (Application) .

Functional safety , .

Basicconfiguration

, .

Geometricconstraint

, () .

()Geometricreasoning

, .

() Geometric model .

()

Internalmeasuringfunction

.

()

Internalmeasurementsensor

.

Navigation , () , .

()

Ground reaction,Ground reactionforce

.

,

Noise reduction () .

Intensityhistogram

() .

Neural network() , .

() Articulatedstructure

, (Arm) (Wrist) . , " " .

() Leg mechanism , .

() Leg phase , () .

() Leg , () () () .

()

Legged robot () .

4 / 26

ROBOT Ver 1.0

Multipurpose (Physical alteration) (Application) .

Multi-directionalpose accuracyvariation

3 .

Single point ofcontrol

() (Source) , .

() Step , .

() Individual jointacceleration,Axis acceleration

.

() Individual jointvelocity,Axis velocity

.

Object levellanguage

.

Object coordinatesystem

.

, ()

Dead reckoning, , (Gyro), , .

Database

. ,

Database. , () .

() Synchronousoperation

.

Animal type robot (), , , .

() Dynamic walking , () .

Simultaneousmotion

2 ., () . () . , .

Dynamic model, () , , .

Motion levellanguage

.

Motionprogramming

, .

() Duty factor , , () .

Drift , / , .

() Hill climbingability,Gradability

, (Tangent) . .

Digital filter () .

5 / 26

ROBOT Ver 1.0

Line sensor () .

Landmark , () .

Robotics , .

Robot sensor () () .

,

Robot system,Industrial robotsystem

, .- - - ,

Robot language .

Robot controlsystem

( ) ." (Robot controller)" .

Body coordinatesystem

. +x, +y, +z .

Robot controlcode

.

Intermediate code .

Local control .

, ()

Localization . () .

/ Lockout/Tagout

"" "" . / , .

6 / 26

ROBOT Ver 1.0

Roll (x) .

Rule-basedplanning

() .

Redundant control , .

Risk () .

Link , .

Master-slavemanipulator

() () .

Master-slavecontrol

, .

Micro robotsystem

(cm) .

Friction cone2 () , , .

,MDI

Manual data inputprogramming,MDI

, .

Mapping,Map building,Map generation

, () .

Map generation .

Manipulator

, (, ) . , , (PLC), (Cam) () (Relay) .

Multi-modalinterface

, , , , , .

Multi-sensorsystem

, () , .

Multi-agent robotsystem

, , .

Maintenance robot ()

Mechanochemicalmaterial

() , .

Mechanicalinterface

() .

Mechanicalinterfacecoordinate system

.

Meta rule , .

, ()

Metal hydride ()() .

Model-basedplanning

.

Motion capture , , 3 .

7 / 26

ROBOT Ver 1.0

()

Unconstrainedmonitoring

.

()

Noninvasivemonitoring

(Catheter) .

Problem solving , () .

Physical model , , () , () .

Object model .

Objectunderstanding

, , .

Objectrecognition

() , .

()/

Sense of taste/Taste sensor

./ , .

()/

Slip sense/Slip sensor

./ .

()

Differentialoperator

() , () (Template).

Bilateral servo

,

Bilateral servosystem

.

() Foot , () () .

()

Protectivemeasure

.

Protective device .

()Backwardreasoning

, () .

Virtualreality(VR)

(). ().

Base , .

Base mountingsurface

.

Base coordinatesystem

.

()Step length,Leg stroke

, () .

Walking robot . Walking period , 1 .() Walking , () .

Protective stop , () .

Rehabilitationrobot

.

Intrinsic safedesigning

, .

Body center .

Additional mass (, (Arm)) .

()Rough terrain,Uneven terrain

, () .

8 / 26

ROBOT Ver 1.0

Load

() , , () () . . , .

/

Distributedtactile sense/Distributedtactile sensor

./ .

()

Non-verbalcommunication

, , .

()

Non-holonomicconstraint

.

Emergency stop , .

Non-contactsensing

, .

Non-contactsensor

, , , () , .

Behavior-basedrobot

, , .

Bin-picking (), .

Person () .

User , () .

Cycle 1. Cycle time .() Diagonal travel , .

Industrial robot

, , 3 , , . , . - ( ) - () , ( ) , . 1962, Unimation , , 1970 , 1980 .

9 / 26

ROBOT Ver 1.0

Distribution ofindustrial robots

*** ( : ) *** 2008 End 2005 End 355,562 370,481 (, , ) 168,489 139,984 144,803 126,294 76,923 61,576 63,051 56,198 34,370 30,236 31,787 11,557 28,636 24,141 23,644 15,464 15,133 14,948 1,035,674 922,838

Triangulation 2 1, .

State space .

Shaft mechanicalinterface

(, ) .

Servo rate . Servo error (Controlled variable) .

Servo control , Servo control .

, ()

Servo system,Servo mechanism

, (Controlled variable) , (Feedback control system). "(Servo)" .

Subsumptionarchitecture

.

Service robot . Turning radius , . Center of turning , .() Turning .

Installation , .

Sensor glove ().

Sensor network .

Sensor model , .

Sensor suit , .

Sensor-guidedmethod

, , .

Sensor fusion/Sensor datafusion

() , .

Sensorintegration

() , () .

Sensor fusion , () ().

,

Sensor planning , .

10 / 26

ROBOT Ver 1.0

Sensor-basedcontrol

." (Sensor control)" .

Sensing , .

Software servosystem

.

Wrist referencepoint

2 . , .

,2

Wrist,Secondary axes

() , (Arm) .

Solid model

, , () . B-rep(Boundary representation), CSG(Constructive solid geometry), Octree .

Manual mode , . , .

()

Passivecompliance

, () .

Numericallycontrolled robot,NC robot

, (), .

()

Forwardkinematics

, .) kinematics .

Threshold , .

Swept volume .

SCARA robot

(Arm) , , . "SCARA" Selective Compliance Assembly Robot Arm .

Skill , , , () .

Stereo vision() () , 3 .

Stride , 1 .

Structured light , () () () .

,()

Steering () .

Spine robot(Arm), 2 3 () .

Spot sensing() () (), () 3 .

Spin turn .

Slit sensing () (), ()3 .

Visualinformationprocessing

() .

Visual feedback .

Visual feedbackcontrol

.

11 / 26

ROBOT Ver 1.0

/

Vision sense,Visual sense/Vision sensor,Visual sensor

./ .

Commissioning , , . "(Start-up)" .

Sequence robot , , .

Sequence control,Sequentialcontrol

, .

Test load .

Reliability, , .

Attained pose .

Safeguarding, ().

()

Safeguarded space (). () () .

Safeguard ().

Safeguard().

Reduced speed , () , .

Safe workingprocedure

() .

Safetyconfirmationsystem

.

Safety () , .

()/

Contact forcesense/Contact forcesensor

, () ./ .

,

Robot actuator , ().

,()

Active vision() , .

,()

Active suspension , , , (Damping) () .

,()

Active sensing , .

,

Amusement robot,Entertainmentrobot

.

Languageunderstanding

.

Verbalcommunication

.

Face robot, , , .

12 / 26

ROBOT Ver 1.0

Facial expressionrecognition

.

Alignment pose .

() Energy source, , , , , (), , , ().

Area sensor 2 () .

Agent () .

Edge detection() .

Expert system () , .

End-effector (, , , , , ). .

End-effectorcoupling device

() () .

Automatic end-effector exchangesystem

, .

()

Tool coordinatesystem

.

() Force display () , , (), . , (), .

()/

Force sense/Force sensor

./ . , 3 , 3 6 . " ", "6 " .

()

Inversekinematics

, .

,

Space 3 .

Overrun , () .

,()

Overshoot , , .

Object-orientedprogramming

.

Operator , .

Off-lineprogrammablerobot

. , .

Off-lineprogramming

, .

Vehicle length,Overall length

, .

Vehicle width,Overall width

, .

Vehicle height,Overall height

, .

Omni-directionalvision

.

Omni-directionaltravel

, .

13 / 26

ROBOT Ver 1.0

Omni-directionalmobile mechanism

, ().

Optical flow 3 , .

Wireframe model, (, Edge) (, ) .

()

Externalmeasuringfunction

, .

()

Externalmeasurementsensor

, .

Yaw (z) .

() Personnel .

Motion planning , . Motion estimation , , . Operating mode .

(), ()

Operationalspace,Operating space

() , , ().

Working memory , () .

() Remote teaching , , (Arm), (Hand) .(Arm), (Hand) .

Tele-operation .

Teleoperatedrobot

.

Cylindricaljoint,Distributed joint

.

Cylindrical robot

(Arm) , 1 1 , .

World model .

World coordinatesystem

() .

Position servosystem

(Controlled variable) .

Positionrecognition

.

Hazard () . " " "" .

Hazardous motion () .

14 / 26

ROBOT Ver 1.0

()Swing leg,Transfer leg

, .

Guidance control .() Guidance .

Ubiquitous robot , () .

Genetic algorithm, , , , .

Speechrecognition

.

Speech synthesis . Medical robot .

Enabling device , .

() Mobile mechanism , .

Mobile robot . () .

Moving obstacle , .() Passage plane ().

Ionic conductingpolymer gelfilm(ICPF),Ionic polymermetal

() () . , () () .

metalcomposite(IPMC)

Human-symbioticrobot

.

Human behaviorunderstanding

, .

Human-robotcommunication

() () .

Humanoid robot . Artificial life () .

Artificialintelligence

, , , . , (), , ,, .

Processing forrecognition

.

Interlock

, , ., , , .

Interface

2 (Boundary) , , , , ., .

Impedance , (), () () .

15 / 26

ROBOT Ver 1.0

Impedance control

( ) . (Manipulated variable) () .

(),

Stance leg,Supporting leg

, .

Self-preservation () . .

()

Magneto-rheologicalfluid(MRF)

() () () , () .

Self-organizingrobot

.

Automatic mode .

Self-sustainedmobile robot,Self-containedmobile robot

.

Attitude control .

Free space () . ()

()Degree offreedom,DOF

() ( 6). "(Axis)" , "" .

Autonomousdistributed robotsystem

, .

Autonomousdistributedcontrol

, .

Autonomouslocomotion

, .

Autonomous mobilerobot

.

()

Operating range .

,

Task planning , , .

() Task teaching () .

Task levellanguages

.

Recognition oftask condition

, .

16 / 26

ROBOT Ver 1.0

()Work space,Working space

(), () ().

()

Center of theworking space

(Arm) () .

Taskunderstanding

, .

Task coordinatesystem

(Task) .

Goal-directedprogramming

, , .

Task learning (), , .

Obstacle , .

Obstacleavoidance

() , (, , ) .

Reprogrammable (Physical alteration) , .

Disaster responserobot

, () .

Adaptive robot , , .

Adaptive control , .

Adaptive controlrobot

.

()

Electro-rheologicalfluid(ERF)

() () () , () .

() Overturningmoment

.

() Front-wheel drive , . Forward travel , .

17 / 26

ROBOT Ver 1.0

Pre-processing , , , , () .

Occupied space ( ) , .

Ground contactarea

, , , () .

(), ()

Ground contactpressure

, , , () .

Contact-safety () , .

()/

Touch sense/Touch sensor

./ .

Contact sensor , , , () .

Contact sensing .

Rated load

, . , .

() Static walk , () .

,Normal operatingstate,

. ,

state,Automaticoperation

.

Normal operatingconditions

(, ) ( , ).

()

Emotionalinterface

() (, ) .

()

Static compliance .

,

Stopping accuracy , ().

Stationaryobstacle

, .

Stop-point 0, 0 , .

()

Brake mechanism .

,ZMP

ZMP,Zero moment point

() , 0 .

Gesturerecognition

, .

Control program

, . , .

Limiting load , () .

18 / 26

ROBOT Ver 1.0

() Restricted space

() , (Limitingdevice) (). .

Limiting device / () , .

Gentle motion .

Assembly taskplanning

, .

Joystick , , .

Joint2 .

Joint coordinatesystem

. .

Operationsimulator

() .

() Steering control .() Steering angle ().(),()

Steering wheel , .

()

Protectiveequipment of

, () .

equipment ofpresence-sensing

() .

()

Presence sensingdevice

. , , () , , () .

(),(),()

Idler wheel,Follower,Trailing wheel,Idling wheel,Idler

, .

Coordinatetransformation

, .

19 / 26

ROBOT Ver 1.0

Coordinate system

X, Y Z 3 .(Tool) () .

()

View pointcontrol

() , , , .

Travellingaccuracy

, ().

()Travelling,Propelling,Traction

, (Wheel) (Crawler) .

Intelligent robot .

Command pose,Programmed pose

.

Knowledge base() .

() Support polygon () , .

Rectangularrobot,Cartesian robot

(Arm) , 3 , .

20 / 26

ROBOT Ver 1.0

()Leg withprismatic joint

, .

() Direct teaching (Arm), (Hand) .

() Prismatic joint,Sliding joint

.

() Pendular robot

(Arm) , () .

()

Wheeled mobilerobot

() .

(() Emergence

() () .

/

Acoustic sense,Hearing sense/Acoustic sensor,Hearing sensor

() () ./ . .

Ultrasonic sensor , , , .

Tactile display () () (), .

Tactile imagesensing

() , , () .

Tactile display , , (), .

Tactile feedback () .

Tactile feedbackcontrol

.

/

Tactile sense/Tactile sensor

./ .

() All-wheel drive , . Total mass .

Minimum posingtime

, (6) ( ).

Maximum momentload

() (() ).

21 / 26

ROBOT Ver 1.0

Maximum thrustload

() (()).

Maximum safetyangle

.

() Maximum space() (), () .

Maximum payload,Loading capacity

.

Resolution ( ). "()" .

Follow-upcontrol,Tracking control

.

() Axis (). "() " .

Collision-safety () , .

Collisionavoidance

() , .

() Friendliness, , , , .

Camera coordinatesystem

.

Configurationspace

(, Unique) .

,

Configuration . , (Arm) , () .

Compliancecontrol

. (Manipulated variable) .

,

Compliance

(), .() . , () . "() ", "() " .

Cornering force () .

Tracked mobilerobot,Crawler mobilerobot

() .

,

Crawler,Track

, () () (Shoe) , () (Sprocket wheel) ()." (Continuous track)" .

Search space . Task model (Task) .

22 / 26

ROBOT Ver 1.0

Task programming .

Task program

() . , . "(Application)", , "(Task)", , .

Teleoperator , . , .

Tele-existence

, , , .

Tele-presence"" . () .

Template matching (, /) . Torque sensor 3 . , ,TCP

Tool centerpoint,TCP

. TCP () .

() Traverse , .() Traverse , .

Tracking vision() .

Troubleshooting , .

()Singular point,Singularity

, () . 2 , .

Featureextraction

() .

() Grasp planning , , .

Power assistsystem,Power assistancesystem

, (), .

,,1

Arm,Primary axes

, .

Parallel robot .

Pattern matching2 , .

Patternclassification

, .

Patternrecognition

.

Fuzzy rule () .

23 / 26

ROBOT Ver 1.0

Potential fieldmethod

(), .

Performance . . Peg-in-hole task .

Failsafe , .

,()

Pendant,Teach pendant

, , , .

() Forward reasoning , () .

Pose (6).

(Uni-directional)Poserepeatability

, (Dispersion).

Drift of (uni-directional) poserepeatability

.

Posestabilizationtime

() , () .

Pose overshoot () () .

(Uni-directional)Pose accuracy

, (Bias).Pose accuracy (Bias).

Drift of (uni-directional) poseaccuracy

. , .

Fault tolerance () .

,

Surface model, .

Standard robotlanguage

.

Standard cycle 1.

Fool-proof , , .

Frame () . .

Programmer . ()

Programverification

.

Program path (TCP) .

Production rule .

Production system , () .

Fly-by point ( ) .

Planning .

Flange mechanicalinterface

.

24 / 26

ROBOT Ver 1.0

Playback robot() , .

,()

Playback , .

Feedback (Output) (Input) , .

,

Feedback control,Closed-loopcontrol

(Controlled variable) (Desiredvalue) , (Manipulatedvariable) .

Pivot turn,Pivoting

, () ().

Pitch (y) .

Filter , .

Physicalalteration

, , ROM .

Hybrid control , .

Weightdistribution

, , , () .

Learning control , /, . .

Learningcontrolled robot

.

Hand-eye system

, () . , .

Haptic interface,Haptic devices

. .

()Allowable stepheight

.

() Allowable gapwidth

.

Head-mounteddisplay(HMD)

() .

() ,

Suspension , .

Collaborativeoperation

, () .

Collaborativework space

() , .

Coordinatedmotion

, (TCP) (, ) .

Coordinatedmotion planning

.

Cooperation,Cooperativeworking

, .

25 / 26

ROBOT Ver 1.0

Coordinationcontrol,Cooperativecontrol

, .

Shape memoryalloy

. , .

Hold-to-runcontrol

, .

Holonomicconstraint

.

Home robot,Domestic robot

.

() Image coding .() ,

Image sensor 1 2 () .

() Image recognition .

() Image processing(), , , .

(),

Pixel , () () , .

()Environmentteaching

.

Environment model , () . Environment model , () .

Environmentunderstanding

.

Environmentrecognition

.

() Environment map , .

Environmentalsound recognition

, () .

,()

Rotary joint,Revolute joint

.

() Conversationrecognition

, .

()/

Sense of smell/Smell sensor

./ , .

() Rear-wheel drive , . Reverse travel , .

Heuristics , () , .

Human interface . .

Human-robotinterface

( ).

Human-machineinterface

.

Teaching byshowing

, .

Force servosystem

(Controlled variable) .

Force sensor 3 .

Force feedback () .

26 / 26