Here is a friendly robot and the human I have a robot， its name is Nicole， although it is a machine， but it looked lovely， and can do many things for Such as cleaning， cooking and cleaning， when I can for my tired shoulders pounding， is really a lovely and useful But it also has drawbacks， and sometimes it is not flexible But no matter what， it is one of my good In short， the robot very useful to 这样可以吗？
Generally， the executing agency， robots driven devices， test equipment and control system and complex machinery， [1] actuators， its robotic arms general ontology using space open chain link mechanism， including sports vice deputy vice or move (turn) is often called the joints， the number is usually for robot joints of free According to the joint configuration types and different forms of exercise coordinate robot actuators can be divided into the rectangular type， cylindrical coordinates type， polar coordinates type and Out of consideration， often personified on parts of robot body respectively called base， waist， wrist， arm， hand (grippers or end actuator) and walk (for mobile robot)， Device drivers are driving actuators motion control system， according to the instructions issued by dynamic elements that signal， the robot It is the signal output and input line， the angular displacement Robots are mainly used in driving devices， such as electric drive stepping motor servo motor， etc， also have adopts hydraulic and pneumatic device Detection device is real-time detection of robot， sports and work according to the feedback control system， and set to compare information， after the adjustment， enforcement agencies to ensure the action of the robot with As the sensor detection device can be divided into two kinds: one kind is inside information， which is used to detect sensor robots each part of internal condition， such as the position of each joint， velocity， acceleration， ， and will obtain the information as feedback signals sent to the controller， forming closed-loop Another kind is outside sensors for access relevant information of the robot homework and external environment， etc， in order to make robots can adapt to the action of external changes， to achieve higher level of automation， and even make robot has a "feel" intelligent development， for example， to sound sleep， etc， and external visual sensor gives work， work environment of the relevant information， use this information to constitute a feedback loop， which will greatly improve the accuracy of the robot There are two ways to control A centralized control， which is controlled by a robot all Another kind is scattered (level)， which is a type of control a microcomputer to share more control of the robot， such as when the next two levels， the microcomputer control of the robot is complete， the host used to be responsible for the system of management， communication， kinematics and dynamics calculation， and send to the lower microcomputer instruction information， As a junior respectively from the machine， various joints on a CPU， computing and servo control interpolation， given to the host， and According to the different requirements of the task， robot control mode can be divided into the position control， continuous trajectory control and force (moment)
