【正文】 ding to oneself need the function stress to choose the different servocontrol way differently, in the ordinary circumstances, exchanges the servo driver below, passable has carried on the artificial hypothesis to its internal function parameter to realize the function: 1)position control way。5)position, torque mixed mode。9)speed PID parameter establishment。s the DD actuation technology essential link is the DD electric motor and its the it should have the characteristic: 1)outputs the torque in a big way: For tradition drive type in servo motor output torque 50 ~ 100 )torque pulsation small: The DD electric motor torque pulsation may suppress in the output torque 5% ~ in 10%.3)efficiency: With uses the reasonable impedance matching the electric motor(under tradition drive type)to pare, the DD electric motor is works under the power conversion worse exploitation , the load is bigger, more favors to selects a bigger electric present, the DD electric motor mainly divides into changes the magnetic resistance and changes the magnetic resistance mixed type, has following two kind of structures pattern: 1)the double stator structure changes the magnetic resistance DD electric motor。s, with the development of puter aided design(CAD)system and puter aided manufacturing(CAM)system, the latest trends, automated manufacturing technology is the leading industrial automation through another transition, its scope is still the northern America, machinery and equipment used in early 8039。s ten years, robot prices dropped although human labor the same time, the robot is not only cheaper, they bee more effective and faster, more accurate, more we factor these quality adjusted to the number, the use of robots to decrease the cost of even than their price tag costeffective in the robot they bee, as human labor to bee more expensive, more and more industrial work bee robot automation is the most important trend to promote the industrial robot market second trend is, in addition to the economic, as robots bee more can bee more tasks they can do, may have on human workers engaged in dangerous or robots perform gradually get more plex, but it is still, in 2000, about 78% installation welding or material handling robot in USA more challenging field, industrial robots, accounted for 10% book focuses on the dynamics and control of the most important forms of industrial robot, is the industrial robot is sometimes , as shown in Figure is always included, and CNC milling machine(NC)is usually difference lies in the programmable plex place if a mechanical device can be programmed to perform a variety of applications, it may be an industrial is the part of a limited class of tasks are considered fixed the purpose of this difference, do not need to be discussed。four rigid body(such as the manipulator links)relative to the fixed seat to the angular velocity vector addition, angular velocity equation at last link we can write a very simple vector:However, unless the information is relative to a mon coordinate system, they cannot be concluded, therefore, although elegant, equation() of the ”work“.A case study of the manipulator, such statements,()work coordinate system hidden bookkeeping, which is often we need to , in this book, we put the symbol reference frame vectors, we don39。在這本書(shū)中，第1章通過(guò)8個(gè)主題涵蓋機(jī)械工程和數(shù)學(xué)，第9章通過(guò)11個(gè)蓋控制理論材料，第12和13章可能被歸類為計(jì)算機(jī)科學(xué)材料。第三版也可以從中受益的使用和采用的修正和改進(jìn)由于許多來(lái)源的反饋。此外，它是有幫助的，但不是絕對(duì)必要的，讓學(xué)生完成入門課程控制理論。在這里我們僅對(duì)其中重要部分做出摘錄。這些技術(shù)是領(lǐng)先的工業(yè)自動(dòng)化 通過(guò)另一個(gè)過(guò)渡，其范圍仍然是未知的。因此，該報(bào)告的數(shù)字為日本有些夸大。如果我們的因素這些質(zhì)量調(diào)整成數(shù)，使用機(jī)器人的成本下降甚至比他們的價(jià)格標(biāo)簽更快。工業(yè)機(jī)器人執(zhí)行逐步得到更多的應(yīng)用復(fù)雜的，但它仍然是，在2000年，大約78%安裝在美國(guó)進(jìn)行焊接或材料搬運(yùn)機(jī)器人的機(jī)器人。設(shè)備，而數(shù)控（NC）銑床通常不?？偟膩?lái)說(shuō)，其力學(xué)和控制機(jī)械手的研究不是一個(gè)新的科學(xué)，而只是一個(gè)收集的主題從“經(jīng)典”的領(lǐng)域。電氣工程技術(shù)施加在傳感器的設(shè)計(jì)電氣工程技術(shù)施加在傳感器的設(shè)計(jì)和工業(yè)機(jī)器人接口，與計(jì)算機(jī)科學(xué)的基礎(chǔ)這些設(shè)備進(jìn)行編程以執(zhí)行所需任務(wù)。當(dāng)然，一個(gè)直接感興趣的話題是態(tài)度在我們所代表的這些量和操縱他們的數(shù)學(xué)。2章討論了公約的方法處理與職位描述討論了公約的方法處理與職位描述定位和操縱這些量與數(shù)學(xué)不同的坐標(biāo)系統(tǒng)。因此，機(jī)械手的運(yùn)動(dòng)學(xué)研究是指所有的運(yùn)動(dòng)的幾何和時(shí)間特性。一些機(jī)器人包含滑動(dòng)（或棱鏡）連接，其中之間的聯(lián)系相對(duì)位移是一個(gè)翻譯，有時(shí)也被稱為聯(lián)合偏移量。在典型的工業(yè)機(jī)器人的情況下，因?yàn)闄C(jī)器人通常是一個(gè)開(kāi)放的運(yùn)動(dòng)鏈，因?yàn)槊總€(gè)關(guān)節(jié)的位置通常定義一個(gè)變量，節(jié)點(diǎn)的數(shù)目等于自由度。在機(jī)械操作的研究一個(gè)非常基本的問(wèn)題就是了運(yùn)動(dòng)學(xué)。根據(jù)機(jī)器人的應(yīng)用，末端執(zhí)行器可以是一個(gè)抓手，焊槍，電磁鐵，或其他裝置。這是一個(gè)總稱，任何機(jī)制。這些節(jié)點(diǎn)通常儀表有位置傳感器，使鄰近的鏈接是相對(duì)位置測(cè)量。運(yùn)動(dòng)學(xué)是科學(xué)的運(yùn)動(dòng)，對(duì)運(yùn)動(dòng)不考慮力這導(dǎo)致它。然后我們繼續(xù)相對(duì)于一些參考描述該幀的位置和方向坐標(biāo)系統(tǒng)。這些對(duì)象是機(jī)械手的鏈接，零件和工具，它的交易，并在機(jī)器人的環(huán)境的其他對(duì)象。數(shù)學(xué)描述空間供應(yīng)工具機(jī)械手的運(yùn)動(dòng)和其他屬性。這是最機(jī)部分有限的一類的任務(wù)被認(rèn)為是固定的自動(dòng)化。這本書(shū)著重于力學(xué)和最重要的形式控制的工業(yè)機(jī)器人，機(jī)械手。這是最重要的趨勢(shì)推動(dòng)了工業(yè)機(jī)器人的市場(chǎng)增長(zhǎng)。在上世紀(jì)90年代的十年中，機(jī)器人的價(jià)格下降了雖然人類的勞動(dòng)成本增加。自那時(shí)起，市場(chǎng)越來(lái)越多的（），雖然它是受經(jīng)濟(jì)波動(dòng)，是所有市場(chǎng)。無(wú)論是作為一個(gè)原因或一個(gè)效果，這種變化的時(shí)期自動(dòng)化技術(shù)是緊密聯(lián)系在一起的世界經(jīng)濟(jì)。具體地說(shuō)，觀眾不需要嚴(yán)格的機(jī)械工程師，雖然大部分材料是從那場(chǎng)。這本書(shū)是適合高年級(jí)本科生一年級(jí)的課程。這本書(shū)是從課堂筆記用來(lái)教機(jī)器人學(xué)導(dǎo)論，斯坦福大學(xué)在1983的秋天到1985。這一分支學(xué)科的機(jī)器人已經(jīng)在幾個(gè)經(jīng)典的領(lǐng)域?yàn)榛A(chǔ)的。s a coarse and important level, these objects are described by two attributes: the position and course, a direct interest in the topic is the attitude in which we represent these quantities and manipulate their order to describe the human body position in space and direction, we will always highly coordinate system, or frame, rigid we continue to describe the position and orientation of the reference frame of the coordinate framework can be used as a reference system in the expression of a body position and direction, so we often think of conversion or transformation of the body of these properties from one frame to another 2 chapter discusses the Convention methods of dealing with job descriptions discussed method of treating and post convention described positioning and manipulation of coordinate system the quantity and mathematics developed skills relevant to the position and rotation of the description and is very useful in the field of rigid is the science of sports, the movement does not consider the force which resulted in the scientific research of kinematics, a position, velocity, acceleration, and the location variable high order derivative(with respect to time of all or any of the other variables(S)).Therefore, the kinematics of manipulator is refers to the geometric and temporal characteristics of all manipulator prises nearly rigid connection, which is the relative movement of the joint connection of adjacent nodes are usually instrument position sensor, so that adjacent link is a