I want to find what I can find in the paper "Application of Industrial Robots" and give me some clues.

Work in extreme environments such as high temperature, low temperature, high pressure and radiation.

Long-term mechanical operation post

Work that has been monitored for a long time

Fine work

High strength work

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With the advent of the era of knowledge economy, high technology has become the focus of competition in the world, and robot technology, as an important branch of high technology, has attracted the attention of governments all over the world. It is understood that Japan is currently implementing the third "humanoid robot" plan after the first two robot plans-"extreme working robot" plan and "micro-mechanical technology" development plan; The cost of drones in the United States alone reached $2.5 billion. Our government also attaches great importance to the research of robots. As early as the "Seventh Five-Year Plan" period, industrial robots and underwater robots began to tackle key problems and achieved certain results. 1986, the national "863" plan includes intelligent robots. After more than ten years' efforts, we have made remarkable achievements from tracking the advanced level in the world to independent research and development.

Robotics-a battleground for science, technology and economy-all countries in the world attach great importance to the development and research of robotics, mainly for the following reasons:

First, the development of robots can improve the overall national strength. Robot technology is a high-tech integrating the automation of optical, mechanical and electrical information. In a sense, the level of robots in a country represents the comprehensive strength of a country.

Developing industrial robots can improve a country's manufacturing capacity. Many enterprises at home and abroad use industrial robots to improve productivity and product quality. By using industrial robots as key production equipment, some large foreign automobile, electronics and machinery manufacturers can adjust their production strategies in time according to market demand, and occupy more market share with small batches and multiple varieties. The national "863" plan saw this trend, gave strong support to industrial robots and their application projects, promoted a model project in motorcycle, automobile, electronics, household appliances and other industries, and formed a product series with independent intellectual property rights.

The development of special robots can enhance the country's sustainable development ability. The so-called special robots refer to all kinds of robots except industrial robots. At the initial stage of the implementation of the "863" plan, China successively developed underwater robots, danger-removing robots, robot rollers, micro-manipulators, biped walking robots and dexterous hands, which greatly shortened the gap between China's robot level and foreign developed countries, effectively promoted the development of China's robot technology, and strengthened the connection between robots and society and economy.

Intelligent robot is a machine with the functions of perception, thinking and action, and it is the comprehensive achievement of many disciplines and technologies such as mechanism, automatic control, computer, artificial intelligence, photoelectric technology, sensing technology, communication technology and simulation technology. As a new generation of production and service tools, intelligent robots occupy a wider and more important position in the manufacturing and non-manufacturing fields, which is of great practical significance for human beings to open up new industries and improve their production and living standards. For example, in the process of winning the priority exploitation right on the high seas, the 6000m underwater cableless autonomous robot system developed by the national "863" plan went to sea twice, and obtained valuable information on the distribution of manganese nodules on the seabed, making China one of the few countries in the world with deep-sea exploration capability.

Second, developing robot technology can improve national defense strength. In the Gulf War, the Bosnia-Herzegovina War and the Kosovo War, various unmanned aerial vehicles and ground military robot systems played a special role in battlefield reconnaissance, mine detection and demining, surveillance, communication relay, electronic countermeasures, fire guidance, results evaluation, harassment and attack. In view of the great influence of high technology on the future war command system and battlefield environment, China has carried out and will strengthen the research in this field.

Third, robots can form a huge industry. Although only industrial robots are relatively mature at present, from the development trend of robots in the world, the market potential of service robots and personal robots is huge. It can be predicted that personal robots will enter thousands of households like personal computers and become indispensable daily necessities in human society.

Fourthly, developing robots can improve a country's international status. With the support of the national key research plan and the "863" plan, we have developed robots for various purposes, and joined the international advanced robot program with a few developed countries, thus enhancing the international status of China's science and technology.

The necessity of developing robot technology in China At present, the robot market in China is not very large, for many reasons. China is a populous country, and most people lack understanding of robots. They think there are many laid-off workers now, so why use robots? This is a biased view.

First of all, robots are not simply replacing people's work. We use robots to make them do jobs that are not suitable for people to do directly, that they can't do and that they can't do well. For example, robots can enter patients for inspection and treatment, gas pipelines for inspection and maintenance, and nuclear power plants for nuclear leakage inspection. Robots can land on the moon, dive into the depths of the sea, and complete monotonous or complicated work with high quality for 24 hours. At present, many people in our country are working in a toxic and hazardous working environment with high temperature. The application of robots can liberate them from the harsh environment.

Market competition also needs robots. The application of robots can not only improve product quality, speed up product modification, adapt to the rapidly changing market and meet the needs of consumers, but also reduce product costs and improve market competitiveness, thus enhancing the competitiveness of China enterprises in domestic and foreign markets.

In addition, with the improvement of material and spiritual living standards and the increase of aging population, people will need more intelligent, socialized, family-oriented, personalized and emotional services, and robots will show their magic power. Most importantly, from the national point of view, many cutting-edge technologies, especially national defense high-tech, must have independent intellectual property rights in order to gain the initiative in international competition. Hegemonism doesn't want China to have robot technology that can compete with it. We have to rely on our own efforts.

China is a big developing country, and the rapid economic development has brought broad application prospects for robots.

With the rise of high-tech industries in China and the turnaround of large and medium-sized state-owned enterprises, a number of emerging industries will emerge, which will also induce a new round of investment. As the core of advanced manufacturing industry, industrial robots will be widely used. In recent two years, large-scale infrastructure construction in China has provided a place for robot construction machinery such as concrete spraying robots, rock drilling robots, robot rollers and robot bulldozers. A new generation of robotic construction machinery, such as loaders, mixers, pavers and shield robots, is under study. 2 1 century is the century when human beings go to the ocean and ask for resources from the ocean. Our series of underwater robots will undertake the important task of ocean exploration and contribute to the development of China's oceans.

Through the implementation of the national "863" plan, China's robot industrialization has begun to emerge and the development momentum is good. Some enterprises have seen the great potential of robots. FAW, Lu Hua, Haier, Jialing, Chang 'an and other large enterprise groups have begun to set foot in the field of robots, and they have all seen the potential robot market in China.

It is urgent to seize the opportunity, meet the challenge and accelerate the development of robot industrialization in China. We must take corresponding measures to adapt to the situation.

The state should increase investment in robotics and formulate corresponding encouragement policies. Robot is an innovative and strategic high-tech with great influence on national economy and national security, and it is one of the commanding heights of economy and technology in 2 1 century. The state must invest more money to speed up the research of robot technology, and at the same time give certain preferential policies to relevant enterprises to promote the development of China's robot industry.

China should set up robot automation equipment industry group. With the rapid development of manufacturing industry in China, the domestic demand for robot automation equipment is increasing, and large foreign robot companies have entered the China market. Although the cost performance of special robots in China is generally better than that of foreign countries, it is difficult to compete with large international companies because of the small scale of enterprises, simple products, small batch and lack of sufficient financial strength and coordination ability among enterprises. Only by establishing a company with a certain scale, while improving product quality and building a brand, increasing investment and reducing costs can we form a healthy development of enterprises and occupy a place in the international market.

China Robotics Association was established. At present, there are many secondary robot associations and societies in China, but the focus of each branch is different, the scope of personnel involved is also different, and there is not enough communication between them, giving people a feeling of being independent. If we can set up a China Robotics Association, organize the existing secondary societies, popularize knowledge and cultivate talents through academic exchanges, popular science propaganda, market research and other activities, and promote the research and application level of robotics science and technology, it will be of great benefit to China's robotics industry.

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What will be the future development of industrial robots in China? Can it be applied to production on a large scale and accepted by the market? This has always been a problem that puzzles many people.

The development of industrial robots in China has long been limited by the high price and low cost of domestic labor, which makes the application scope of industrial robots very narrow. However, with the sustained and rapid expansion of China's economy and the continuous improvement of people's living standards in the past 30 years, many situations have quietly changed, and these changes have improved the use environment of industrial robots.

As the most flexible and fastest-growing part of the manufacturing system, the processing and manufacturing industry has a great influence on the national economy. Since the reform and opening-up, the development of processing manufacturing industry has experienced from the "Three Supplements" in 1980s to the direct investment by domestic and foreign manufacturers to set up factories and sell them at home and abroad. However, these investments and factories in China only make use of China's abundant and cheap labor, and most of the technologies and equipment used are from abroad. Although the supply of labor force is almost unlimited, China's manufacturing industry has developed into a world factory at the end of the 20th century. However, this development has laid a huge hidden worry, and the development of the world's factories depends on the adequate supply of labor.

With the continuous strengthening of economy and the implementation of family planning in China for more than 20 years, the pattern of labor supply in China began to change. China's labor market has gradually changed from a "buyer's" market to a "seller's" market, and the labor force has begun to develop in the direction of balance between supply and demand. As the main force of manufacturing industry, migrant workers only solved the problem of food and clothing in the early days, and put forward higher requirements for salary and working conditions. This change in the market makes it more and more expensive for enterprises in many labor-intensive industries to increase the number of workers and extend working hours in order to improve labor productivity. At the same time, the use of this method is also hindered by more and more laws and policies. This change from the micro-level of enterprises to the macro-level of the whole society has a great influence on Chinese enterprises, prompting enterprises to realize that they must start with improving machinery and equipment, increase investment in technology and capital, and minimize the amount of labor.

With the decrease of surplus labor force, the increase of individual worker's cost, the higher requirement of product quality and the country's emphasis on equipment manufacturing industry, industrial robots and technology have been widely valued by the government and industry in China. The government strives to accelerate the development of China's equipment manufacturing industry, especially industrial robots, and adopts various methods to increase the market share of China's equipment manufacturing industry, and provides preferential measures to encourage more enterprises to use robots and technologies to upgrade their technical level. The industry has also begun to pay attention to the great role of industrial robots in reducing labor costs, reducing labor risks and improving product quality. Because of this, in recent years, more and more domestic enterprises have adopted industrial robots in their production. Many enterprises have met their own requirements by adopting industrial robots and technologies, thus improving their competitiveness. The sales of various robot manufacturers have been greatly improved. In the last four years, the sales of many enterprises in China were even several times that of the previous ten years. Before 2000, the sales volume of welding robots of German Kross Company in China was 47. After 2000, it has surpassed 12 1, and the sales volume has nearly tripled. The rapid development of industrial robot and its technology is being widely used in the technological upgrading of industrial enterprises. In the future, China industrial robot industry will exist as an industry occupying an important position in the national economy.

Since the establishment of the National 863 Robot Theme, it has always attached importance to the promotion and application of robot technology in industry, promoted robot technology to upgrade traditional industries for a long time, and developed high-tech industries by using robot technology. The theme of robot technology not only actively promotes the industrial application of robots, but also popularizes robot knowledge among ordinary people and increases people's understanding and knowledge of various robots. It has become the knowledge of the whole society to improve the industrial development level and people's quality of life in China by using robot technology.

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1, a brief history of the birth and development of symbol-based robotics.

One thing engineering has in common is engineering practice first. The birth of robotics is no exception, which is accompanied by the birth and development of industrial robots. It was not until the 1970s that the whole system of industrial robots was basically finalized, and its development mainly depended on the gradual improvement of the performance of unit devices. At this time, robotics has developed to the depth and breadth, becoming a very comprehensive and active discipline, which is another similarity of engineering disciplines: in a certain period of time, theory will be ahead of engineering practice. George C. Divo invented the industrial robot in the mid-1950s. He is a reprogrammable operator of PTP control company. After jointly developing this brand-new tool concept with Jesef F. Engelberger * *, the first industrial robot company Unimation lnc was established on 1959. The preliminary work that inspired the invention of industrial robots was to develop a remote control robot with master-slave control, which was mainly used for the treatment of radioactive materials.

The main historical events in the development of industrial robots are as follows:

1954: American G.C.Devol invented the programmable robot with the patent number of 2988237.

1959: American planetary company makes the first commercial robot.

1960: Unimation company of the United States was established.

1970: Victor Sherman is verifying the Star Ford manipulator.

197 1 year: Japan industrial robot association was established.

1974: Milla dragon company in Cincinnati, USA launched the first microcomputer-controlled robot T3.

1976: RALph Bolles developed the robot programming language al.

1978: unimotion company introduces PUMA, a universal robot that can be used for assembly.

1978: SCARA assembly robot was invented by Japan and Konoha.

The main events of robot research are:

1954: Denavit and Hartenberg( 1954) put forward a general method to express the geometric relationship of spatial components, which can be used to solve the forward kinematics of robots.

1962: Ernst (1962) and Boni( 1962) study the manipulator with tactile and pressure sensors respectively.

1964:ui cker( 1964) doctoral thesis studies the dynamics of spatial bars.

1968: solving inverse kinematics problems by algebraic method in Dr. Pipper's thesis.

1968: McCarthy (1968) studied robots with cameras and microphones in Stanford AI Lab, which can find and grab building blocks according to human instructions.

197 1: Kahn and Roth( 197 1) study the minimum time control of robots.

1972: Paul (1972) studies joint space trajectory planning.

1973: Bolles and Paul( 1973) assembled the water pump with Stanford arm with vision and force.

1974: Bejezy (1974) studies the dynamics and calculated torque control of robots.

1976: Bolles (1976) developed the robot programming language AL.

1979: Paul (1979) studied the trajectory planning of Cartesian space.

1979: Lozano-Perez and Wesley( 1979) study the problem of robot obstacle avoidance.

1981:R.P. Paul (1981) published the first robotics textbook, Robot Manipulator: Mathematics, Programming and Control.

The selection criteria of these events are groundbreaking in this study. However, although events 1954 and 1964 are the basis of robot kinematics and dynamics, they are not specially studied for robotics.

1978 The birth of PUMA universal industrial robot can be regarded as the maturity of industrial robots. Up to now, the whole mechanical structure, drive, control structure and programming language of industrial robots are basically the same as those in 1978.

The publication of 198 1 Robotics textbooks marks the maturity of this discipline. De Werther and Hartenberg (1954), Pierre (1968), Paul (1972), bolles (1976).

Because the main driving force of discipline development is innovation and depth, in the 1980s, the development of robotics mainly developed in breadth and depth, and the mainstream gradually deviated from the industrial background. However, because robotics is an engineering discipline, if it deviates too much from reality, it will be limited, that is, by market driving forces, such as so many researches on robot control and intelligence, but none of them are practical, and the research in this field will inevitably shrink. In recent years, robotics has realized this (that is, the research funding has decreased) and started to pay attention to new engineering topics. Behavior-based robotics and bio-robotics will push robotics to a new development time and space.

2. The main research contents of symbol-based robotics.

Referring to the textbook Classical Robotics by K.S.Fu et al. (1988), the research contents of traditional robotics are as follows:

kinesiology

mechanics

Trajectory planning

Operator control (including position and force control)

Robot sensor

Path planning and task planning

All the above contents describe the robot or environment with symbols in Cartesian space (joint space can be mapped to Cartesian space), and then implement planning and control. This part of robotics is properly called symbol-based robotics. In addition, robot path planning and task planning are particularly related to symbol-based artificial intelligence, which is also called intelligent robot or robot based on artificial intelligence. The crisis brought by symbol-based artificial intelligence is naturally its crisis.

After ten years, the research on the development of robotics to depth and breadth includes:

The operation, dynamics, trajectory, control and coordination of multi-robot system.

Kinematics, Dynamics, Motion Planning and Control of Redundant Robots

Operation, dynamics, motion planning and control of elastic robot.

Robot information processing and task realization based on multi-sensor in complex environment.

The research of breadth development is as follows:

Structure, sensor, control and task planning of mobile robot.

Crawling, walking, flying, underwater, wheeled, crawler and other mobile robots belong to mobile robots, and the research content is rich. Because the robot moves in the workspace, the first problem is obstacle avoidance and navigation. Because mobile robots need to have the ability to move and work autonomously in a dynamic environment, another term, autonomous robot, mainly refers to mobile robots.

Because the working environment of mobile robots (dynamic and uncertain) is completely different from that of industrial robots (structured), new theories are needed, and it is this engineering need that gives birth to behavior-based robot technology and its development to bio-robot technology.

3. What is behavior-based robotics?

Behavior-based robotics opposes abstract definitions, so it is more suitable for philosophical thinking in this field to adopt scene-based and concrete explanations. The following table is a comparison between behavior-based robots and symbol-based robots in various aspects. Behavior-based Robotics with Characteristic Items Symbol-based Robotics

Research objects: autonomous robots working in unstructured environment and robots working in structured environment.

Environmental characteristics are dynamic, uncertain, complex, definite, predictable and simple.

The processing of sensor information is distributed and direct, and the centralized fusion processing is abstract and defined, not abstract.

There is no central mode in the processing environment, and there is mode and central expression without central expression.

Generation of Behavior Sequence Behavior sequence is generated through the interaction among the target, the operating scene and the robot, and is accurately planned in advance according to the given task.

Behavior control self-organization, distributed central control or invisible central control.

The information processing mode is parallel, and the calculation amount is extremely small and serial, and the calculation amount is extremely large.

Task realization is realized through self-organizing behavior and emergent behavior of environmental interaction.

Implemented by algorithm

The system structure is organized by behavior modules in parallel, and the hierarchical structure emerges dynamically.

Organized by series functional modules, the structure is fixed.

System theory is mainly expressed in language, which is difficult to formalize. Emphasis on concretization and scene verification, mainly represented by symbols, which is convenient for analysis and multi-purpose simulation.

The important research content of behavior-based robotics is system structure rather than algorithm. Behavior-based robots have excellent performance in unstructured dynamic environment, and similar robots designed with symbol-based robots cannot achieve the following performance:

High speed and flexibility. The moving speed in a dynamic and complex environment can reach 2 meters per second.

High flexibility. Quickly adapt to changing internal and external constraints.

High robustness. Can withstand local damage.

High efficiency. The software code can be a few percent of the traditional, and the hardware can be a few tenths of the traditional.

Economy. The price is one tenth of the traditional one.

Simple. People who have not been trained in formal robotics can operate quickly.

Scalability. Only a few changes to the original system can improve performance.

Reliability. Distributed self-organizing parallel work, strong reliability.

4. Biorobotics, a new research on homomorphism.

In 1990s, many new names appeared in the research of robotics, such as: Behavior-based Robotics (Brooks, 199 1a), Evolutionary Robotics (Harvey, 92), Non-Cartesian Robotics (Gomi, 1996), Cognitive Robotics (Brooks, 1996). Among them, evolutionary robotics mainly studies the evolution of current environmental behavior, while non-Cartesian robotics and behavior-based robotics study similar contents. Cognitive robot is a new concept put forward by Brooks. Because Brooks has been leading this new field, it is necessary to explain the background of this concept. After Brooks' research group made great achievements in developing behavior-based robots, (Brooks and Stein, 1993) began to study humanoid robots, the highest form of robots, mainly in order to realize the idea of gradually accumulating their intelligence and face human cognitive problems. At that time, a large research plan was established, and the research results of this plan were reported by the end of 1996 (Brooks, 1997). Obviously, the plan has encountered great setbacks in capital, technology and research ideas. At present, it still stays in the manufacture and research of unit modules. In terms of research ideas, because the system architecture is still based on SA design, the analysis in the third chapter will not succeed. Technically speaking, it is far more complicated for people to feel the brain physically than they think. It is still a long-term research goal to completely simulate human behavior and further possess human ability. In terms of research ideas, Brooks' idea of intelligent accumulation (199 1a) is not feasible. On the one hand, Brooks still adopts the concept of holistic intelligence. On the other hand, the evolution of intelligence includes the evolution of biological basis. Nevertheless, Brooks' research plan has attracted the world's attention, because the previous humanoid robots were mainly institutional research, and the most complicated one was the robot that can play the piano developed by Ichiro Kato of Waseda University, which is a masterpiece of traditional control methods. Brooks is the first person to develop a humanoid robot based on behavior, which has been made into a head-eye-hand module. GMD in Germany and Tokyo University in Japan have also started research in this field. Although the research plan was frustrated, (Brooks, 1997) put forward the concept of cognitive robot as a further development of behavior-based robotics. He is famous for his body shape, motivation, consistency, adaptability, development and brain mechanism. It can be seen that Brooks wants to study humanoid robots as the development of behavior-based robots. His so-called cognitive robotics studies humanoid robots, and has not yet put forward a systematic theory, but the research object is more complicated.

Through the above analysis, in the 1990s, many researchers sought inspiration from biology and opened up a new direction of robotics. The main driving force is the containment structure theory established by Brooks. Many researchers have also found the limitations of containment structure, and it is difficult to further study it. The GBA proposed in the previous chapter has made great progress. GBA is an open system. On the basis of GBA, behavior learning, behavior evolution, etc. We can carry out systematic research, but at the same time we are faced with many new problems, such as more effective driving system, sensors, complex learning problems, computing tools, thinking problems and so on. Simply facing a problem, such as the current evolution of environmental behavior or cognition, is not conducive to the new development of robotics. It is necessary to unify them into the category of biological robots, because their ideological basis is unified. In addition, Biorobotics is not the development of robotics based on behavior, but a kind of tolerance, which forms a new research subject with a profound and comprehensive vision and broadens the new era of robotics research.

The research objects of bio-robotics are fully autonomous and semi-autonomous robots working in dynamic and uncertain environments. The research methods include: getting inspiration from all levels of biological system, applying top-down and bottom-up research methods in parallel and dynamically, that is, Tai Chi research method, and using more comprehensive strategies.

The main research contents are as follows:

(1) bionic mechanism, driver and sensor

(2) Bionic computing tools

(3) System structure and intelligent structure

(4) Awareness, motivation, emotion, growth, interaction, skills, language, learning, knowledge, perception, behavior realization, thinking and other cognitive abilities.

(5) System design and manufacturing

In this way, the biological robot has a clear guiding direction and is very inclusive. For example, evolutionary robotics proposed by Harvey (1992) mainly studies the growth of cognitive ability, using dynamic neural network as a computing structure and tool, and cognitive robotics also pays attention to several factors in cognitive ability. It should be pointed out that the system structure and intelligent structure are the basis of biological robots, and the cognitive ability needs to be realized on this basis. Behavior-based robotics mainly studies system structure, behavior realization and interaction. Obviously, biological robots can cover all fields that have been developed in this direction, and can promote and guide further research while avoiding making local mistakes. In particular, the research methods have been harmonized, and the bottom-up reductionism research methods are prone to mechanical errors. For example, the currently developed neural networks are difficult to produce advanced behaviors, and top-down research methods are easy to be divorced from reality, such as symbol-based robots, which are difficult to adapt to the environment.