機器人 - 控制研究與剛體研究

9/19 2014
面對工業自動化、工廠自動化、機器人自動化最難的地方在於定義出客戶要的是甚麼東西，想要達成的是什麼目標。有一位國際大企業的老闆，這位林老闆曾經說過台灣多數公司目前對於機器人定義、價值鏈等都不明確。某種程度我贊同林先生說的，或許有可能客戶本身都不知道他想要的是甚麼，因此在面對工業自動化與工廠自動化的浪潮下，確認客戶要的東西到底是甚麼，這是相當重要的事情，當客戶講了一句話，我要作生產履歷，但是生產履歷的細部規劃是什麼 ? 是什麼東西的生產履歷，是食物還是鐵管還是其它 ? 要生產履歷想要達到什麼目的 ? 是否要與其它部門的資料庫進行勾稽連結 ? 客戶能把心中的想像具體的規格化嗎 ? 如果客戶講的不清不楚，那麼是否你需要引導他把意思表達清楚，是否需要引導他在眾多解決方案中選擇一種，或是其實他要的根本不是你能提供的解決方案 ? 這個事情應該是溝通與互相理解的問題。

另一方面、某種程度我並不認同林先生所說的，因為機器人的定義應該已經非常明確，許多國際性機器人協會與國際標準組織都早已定義過何為機器人，何為工業機器人，甚至各種通訊協定，什麼是末端執行器，都有其定義，因此並不存在定義不清的情況，或許在特種機器人領域定義不夠明確，但特種機器人本來就是多樣化的產品，因此當每個種類的機器人的定義還不明確的時候，你才有最好的商機，不然日本的軟銀為何想發展家庭用機器人 ? 更何況特種機器人全球目前約有一百六十億美金的商機，並且每年繼續成長中，這種情況下，如果真的定義還不明確，卻還有那麼大的市場，那我不禁想請問，是勇氣不夠嗎 (評估完畢後就向後退三步) ? 或是認為風險太高 ? 回想起個人電腦剛開始的時候，有所謂的定義嗎 ? 當 IBM 大型電腦當道的時候，不也是只有一小群人對個人電腦有信心嗎 ? 如果你要的是清楚的市場範圍與定義，工業機器人的定義非常清楚，市場一年大約一百九十億美金的商機，如何 ?

想來或許一些企業家們擔心的是投資與資金問題(之前就聽說一些企業主評估後認為機器人自動化產業投資太大，會有風險)，當投資的金額龐大的時候，就擔心失敗與成本能否回收的問題，但兩兆雙星何解 ? 那個當時就不用擔心 ? 這個就要擔心 ? 真的有心要發展這個領域的大企業拿出十億二十億就可以作出一定的規模了。高毛利很可能伴隨較高的風險，人生不就是這樣 ! 投資基金、股票、或定存不也是有風險承擔高低的問題 ?

代工的風險 (說換就換工廠) 難道比較小嗎 ? 本業每年都成長一些，專業經理人會想要探求其它發展或新事業體嗎 ? 成了可能會加薪，敗了(就算只有敗一次)也有可能被敵對人馬射冷箭讓你下馬或降級，或許這不是定義的問題、而是 “不作這個會死嗎 ?” 如果不會，也可以繼續拖著吧。


9/2 2014
根據發那科 FANUC 的某些技術資料說明，經由 USB 連結 RS232 有時會產生一些錯誤訊號，這些錯誤訊號的原因，根據 FANUC 資料的說明，來自於 USB communication faster than a controller to transfer data via RS232. 由這個微小的事情，可以推測未來機器人的發展趨勢。

臺灣這段時間喊著發展機器人產業、但真正在這上面發展的公司有幾家 ? 願意在這上面砸錢的公司又有幾家 ? 美國的 iRobot 年營收大約上百億台幣，研發經費大概就要花十幾億，他市占率全球五成不無道理，反觀臺灣的某些廠商，代工接不到單子就放棄發展，技術如何能深厚 ? 還是說這正應驗了 "為山九仞，功虧一簣" ?

現在的確有的廠商認為技術都不是問題，主要就是要降成本，但是當思考模式是這樣，很難做出FaceBook，也很難成為 Tesla，另外你可能忘記了國際大廠主導的國際標準與專利地雷會卡著你。

機器人問世已經許多年、由美國率先將幻想變成真實、其後歐洲大國與日本快速跟進、在這個領域不斷進步，目前世界上有四大機器人公司，機器人正在改變這個世界，不論你信與不信，機器人將改變的是人類的未來生活與戰爭未來的型態。

本 App 應該可以說是獨一無二，因為從未看過有人在 Android App 做出 "方向餘弦變換矩陣" 與 "附體座標系"矩陣運算。

機器人剛體運動一直是機器人控制的重點學問，由空間座標系 > 方向餘弦變換矩陣 > 附體座標系，最後產生剛體取向，本 APP 由各種矩陣運算、研究與計算機器人剛體運動座標，在台灣地區的 GOOGLE APP 網站很難找到關於機器人、工業機器人及矩陣運算的 APP，這類學問是內隱的寶貴知識能力，我國如果要成為機器人研發製造大國，必須充實這些基礎學問，希望這個 APP 能獲得拋磚引玉的效果、歡迎各界來信討論。 9/19 2014
The face of industrial automation, factory automation, robotic automation is the hardest place to define what customers want is, you want to achieve what goals. There is a large international business owners, forest owners who have said Taiwan is not clear for most companies currently robot definition, the value chain. To some extent I agree with Mr. Lin said, perhaps there may be customers themselves do not know what he want, so in the face of industrial automation and factory automation wave, verify that the customer something in the end is what you want, it is quite The important thing, when customers speak a word, I want to make the production history, but what is the detailed planning of production history? production resume what is the food or iron pipe, or other? biographical want to produce what purpose? Do you want a database with other departments conducted articulation link? Customers can imagine specific normalized hearts? If clients speak unclear, so if you need to guide him to express oneself well, whether you need to guide him in numerous Choose a solution, or in fact, he did not want a solution that you can offer? this matter should be communicating with each other to understand the problem.

On the other hand, I do not agree to some extent, Mr. Lin said, because the definition of the robot should have been very clear, many international associations and ISO robots are already defined what is a robot, what is industrial robots, and even a variety of protocol, what is the end of the actuator has its own definition, and therefore there is no clear definition of the situation, perhaps defined in the specialty field of robotics is not clear enough, but special robot was originally diversified products, so when each type of robot The definition is not clear, you have the best opportunities, or Japan's Softbank why the family wants to develop a robot? not to mention the special robots worldwide there are about sixteen billion dollars in business opportunities, and continue to grow each year, In this case, if it is defined is not clear, but there is a big market, I can not help but ask, is not enough courage to do (after the assessment is complete three steps backwards)?, or that the risk is too high? Recall Since the beginning of the PC, there are so-called defined it? when IBM mainframe computers, when in power, was not only a small group of people have confidence in the PC? If you want a clear market scope and definitions, industrial robots The definition is very clear that the market is about nineteen billion dollars a year business opportunity, how?

Perhaps some entrepreneurs who want to worry about is the investment and funding problems (before they heard that some business owners assessed that robotic automation industry to invest too much, there will be risk), when a large amount of the investment when you are afraid of failure and the cost of energy No recovery of the problem, but two trillion binary Why? do not worry about that at the time? this should worry? really really wanted to develop this area of ​​big business out of one billion two billion can make a certain scale. It may be accompanied by high margin high risk, life is not that so! Investment funds, stocks, or deposit not also have the problem of high and low risk?

Risk OEM (say change to change the factory) Is relatively small it? Grow some of the industry every year, professional managers will want to explore other career development or a new body it? Become might pay, lost the battle (even if only defeat a) may also be hostile troops shot Lengjian let you dismount or downgrade, maybe this is not the definition of the problem, but "this would not be dead?" If not, you can continue dragging it.


9/2 2014
According to Fanuc FANUC some technical information on, via a USB connection RS232 sometimes produce some error signal, the signal causes of these errors, according to the instructions FANUC information comes from the USB communication faster than a controller to transfer data via RS232. From this tiny thing, you can speculate about the future development trend of the robot.

Taiwan this time shouting development of the robotics industry, but the company is really in it there are several development? Willing to throw money in it there are several companies? United States iRobot annual revenue of about NT $ 10 billion on R & D funding is probably it would take more than one billion, five percent global market share, he justified, the other hand, some manufacturers in Taiwan, OEM does not receive the list to give development and how technology can be profound? still say that this is the word of the "mountain nine yards , fall short? "

Indeed, some manufacturers believe that technology now is not a problem, mainly to reduce costs, but when thinking is so difficult to make FaceBook, it is difficult to become a Tesla, you may have forgotten another leading international manufacturers of international standards and patents mine will card you.

Robotics has been around for many years by the United States will be the first fantasy becomes real, followed by European powers and Japan to quickly follow up progress in this area, there is currently the world's four major robotics companies, robotics are changing the world, whether you believe it or not , the robot will change the future of human life and the pattern of future wars.

The App should be able to say is unique, because the Android App never seen anyone make a "direction cosine transform matrix" and "possessed coordinates" matrix operations.

Robot rigid body motion has been the focus of learning robot controlled by a spatial coordinate system> direction cosine transform matrix> possessed coordinates, and finally produce rigid orientation of the APP from a variety of matrix operations, research and calculate the coordinates of the robot rigid body motion in Taiwan GOOGLE APP APP Web site is difficult to find on robots, industrial robots and matrix operations, such knowledge is valuable tacit knowledge and ability, our R & D manufacturing country if you want to become a robot must enrich these basic knowledge, I hope this can get better ideas APP effect, welcome letter from the discussion.