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1、Chapter1Introduction1.1RobotsinSpaceBooksdealingwithrobotsoftenstartwiththedefinitionofwhatrobotsare.Theoriginofthewordrobotdatesbackfrom1920,whentheCzechwriterKarelKapecpublishedhissciencefictionplayR.U.R.(Rossum’sUniversalRobots)deal-ingwithartificialmenbuiltforperformingworkinp
2、laceofhumanbeings.HeinventedthewordRobota,fromthebaserobot-,asinrobota,compulsorylabor,orrobotník,peasantowingsuchlabor.Therobotsdescribedintheplayarehumanoid.TheISO(InternationalStandardsOrganization)8373standarddefinesarobotasanautomaticallycontrolled,reprogrammable,multipurpo
3、se,manipulatorpro-grammableinthreeormoreaxes,whichmaybeeitherfixedinplaceormobileforuseinindustrialautomationapplications.TheInternationalFederationofRobotics,theEuropeanRoboticsResearchNetwork(EURON),andmanynationalstandardscommitteesusethisdefinition.Abroaderdefinitionisgivenbyt
4、heRoboticsInstituteofAmerica(RIA):are-programmablemulti-functionalmanipulatordesignedtomovematerials,parts,tools,orspecializeddevicesthroughvariableprogrammedmotionsfortheperfor-manceofavarietyoftasks.TheRIAsubdividesrobotsintofourclasses1.devicesthatmanipulateobjectswithmanual
5、control,2.automateddevicesthatmanipulateobjectswithpredeterminedcycles,3.programmableandservo-controlledrobotswithcontinuouspoint-to-pointtrajec-tories,and4.robotsofthelasttypewhichalsoacquireinformationfromtheenvironmentandmoveintelligentlyinresponse.TheNewOxfordAmericanDictio
6、narydefinesarobotasamachineableofcar-ryingoutacomplexseriesofactionsautomatically,esp.oneprogrammablebyacomputer.Heretheabilityofmanipulatingobjectsisnotrequired.AccordingtoEncyclopaediaBritannica,arobotisanyautomaticallyoperatedmachinethatreplaceshumaneffort,thoughitmaynotresem
7、blehumanbeingsinappearanceorperformfunctionsinahuman-likemanner.Heretheanthropomor-phicappearanceemerges,atleastforbeingexplicitlynegated.G.Genta,IntroductiontotheMechanicsofSpaceRobots,SpaceTechnologyLibrary26,1DOI10.1007/978-94-007-1796-1_1,©SpringerScience+BusinessMediaB.V.2
8、01221IntroductionThedefinitionfromRandomHouseWebster’sd