Karteikarten
Robotics part 1 & 2
Karten in diesem Stapel (42)
- 1what is roboticsstudy of robots, autonomous embodied systems interacting with the physical world
autonomous system which exists in the physical world can sense its environment and act on it to achieve goals - 2robotics addressesperception, interaction, action
- 3industrial robotsrevolute,scara,collaborative,autonomous guided,delivery,mobile manipulator
- 4research robotsswarm, telepresence, anthropomorphic, bio-inspired
- 5service robot domesticlawn mowing,
vaccum cleaning, entertainment, care assistive, companions, persopnal carrier - 6service robot professional usedefence/field,medical/surgical,professional cleaning, underwater systems, construction, delivery
- 7fixed robotsindustrial, defence, surgical, construction, collaborative
- 8water robotsROV AUV
- 9Aerial robotsdrone
- 10wheel robotagv, delvery, rovers
- 11legged robotshumanoid, bio-inspired, exo-skeleton
- 12body of robotmechanical parts
- 13sensorsallow perception of world
perception process - 14effectors and actuatorsaction in the world(locomotion and manipulation)
actuators enable effectors to execute an action - 15controllerscoordinating info from sensors with commands for robot actuators
- 16why robotssafety, efficiency, reliability, worker redeployment, cheaper
- 17whats autonomyrobots ability to make its own decisions and act on them
can be complete or partial - 18Agentsystem that percieves with sensors and acts with effectors
- 19statedescription of a robot and its environment
- 20diff statesobservable(robot knows its state)
patially obs(only knows part)
hidden(robot has noaccess to state)
discrete(up,down)
continuous(speed) - 21level 0-2 autonomy0: not at all
1:single function automated(cruise control)
2: things are automated and use sensory input from environment but driver is still responsible for cars safety - 22level 3-5 autonomy3: all safety functions automated but driver still there for emergencies
4: fully automated but car restricted to certain areas
5: fully automated can handle any scenario - 23mobile robots aresystems that incorporate intelligence from perception to action
- 24problems with mobile robots-large scale complex systems
-sensors noisy
-the real world is dynamic/unporedictable
-cant put human intellect into robot - 25key components of mobile robots-mobolity&robot platforms
-computer architectures
-sensors, actuators, navigation, sensor fusion algorithms
-robot behaviours and reactive actions
-path searching and learning algorithms
-artificial intelligence and deep learning - 26problem decompositionmodelling, planning, localization, perception, action, communication, learning
- 27autonomous mobile robots design criteriarobustness(coping w bad sensors and hardware failure)
modularity(distributing sensing and control to modules)
expandability(build system from low level to high level behaviours)
high bandwidth(high-level planning and lowlevel control at diff rates)
high intelligence - 287 areas of aiknowledge representations,
understanding natural language,
machine learning,
planning and problem solving,
Inference,
Search,
Vision - 29types of mobile robotswheeled/tracked,
legged,
underwater/flying - 30single wheel driveonly one wheel is driven by a motor,
two rear caster wheels for support - 31differential drivetwo independent motor driven wheels
velocity of each wheel must be precise - 32track drivemotor at each side drives the track
- 33ackermann drivetwo steerable wheels two motor driven wheels
- 34omni wheel driveall wheels are used to steer the robot
2 types of mecanum wheels - 35factors in choosing sensorsapplication,cost,environment,range,field of view
- 36Lidar sensoruses light beams, measures distances can be used to make 3d representations
- 37ultrasonic sensoruses ultrasonic waves
- 38infrared sensordetects infrared radiation
- 39light sensormeasures light density detects colours
- 40touch/pressure sensordetects pressure
- 41visual sensorvisual
- 42two tasks of learning maps-mapping, using robots sensors to represent
-localizatrion, estimating pose of robot relative to map
must be done together
Informationen
- Beschreibung
- 2 science Karteikarten am Robotics part 1 & 2, erstellt von hasdfhfsd gsdhhgsdh am 05/08/2021.
- Erstellt von
- hasdfhfsd gsdhhgsdh · Aug 2021
- Aktualisiert
- 5 Aug 2021
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