Tutorial Workshop on Robotics and Robot Control

摘要

The objectives of this tutorial workshop are: to provide a general introduction to robotics and robot control problems, to outline the technical content of advanced robot control, and to provide a forum for a brief discussion of research and development topics in the area of applied robot control. The first session deals with robot mechanisms, sensors and control. Kinematic and dynamic models of robots are introduced together with illustrations of existing industrial robots. Both internal and external state sensors are discussed together with alternative feedback control schemes. The second session is devoted to the mathematics and computer programming of robot control. Homogeneous transformations, kinematic equations and their solution, motion trajectories and differential relationships are discussed as they relate to the control of robots. The third session treats topics in the area of visual sensing for robot control. The major topics are: sensing and preprocessing, segmentation, recognition and interpretation, and representation of scene data. (Author)