At the beginning of its birth,mobile robots were mainly used for material handling and transportation.Even if they performed some other operations,they were relatively simple operations(such as pallet transfer or jacking).With the improvement of technology,more and more mobile robots are directly used as precision manipulation tools at the end,such as compound robots with visual adjustment capabilities,and high-position self-adjusting unmanned forklifts.In these applications,the mobile robot is no longer a simple handling device,but a work unit with sensing and adjustment capabilities.This requires mobile robots not only to have the ability to accurately detect and locate the end,but also to have the ability to adjust their actuators(such as vehicle-mounted manipulators)in real time.
移动机器人在诞生之初主要用于物料的搬运输送,即使执行一些其他作业也是比较简单的操作(如托盘移载或顶升)。随着技术提升,移动机器人越来越多被直接作为末端的精确操纵工具使用,如具有视觉调整能力的复合机器人、高位自调整无人叉车等。在这些应用中,移动机器人不再是简单的搬运设备,而是成为一种具有感知和调整能力的作业单元。这要求移动机器人不仅需要具有末端精确检测与定位的能力,同时还需要具有对其执行机构(如车载机械手)的实时调整能力。
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