【正文】 幾何問題，常規(guī)的解決在人類和其他生物系統(tǒng)時間每天成千上萬。）這是一個根本性的問題機械手的實際應用?！斑@個 問題將在 3章探討。在機械操作的研究一個非?；镜膯栴}就是了運動學。在典型的工業(yè)機器人的情況下，因為機器人通常是一個開放的運動鏈，因為每個關節(jié) 的位置通常定義一個變量，節(jié)點的數(shù)目等于自由度。一些機器人包含滑動（或棱鏡）連接，其中之間的聯(lián)系相對位移是一個翻譯，有時也被稱為聯(lián)合偏移量。因此，機械手的運動學研 究是指所有的運動的幾何和時間特性。 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)學不同的坐標系統(tǒng)。當然，一個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。電氣工程技術施加在傳感器的設計電氣工程技術施加在傳感器的設計和工業(yè)機器人接口，與計算機科學的基礎這些設備進行編程以執(zhí)行所需任務。 總的來說，其力學和控制機械手的研究不是一個新的科學，而只是一個收集的主題從“經典”的領域。設備，如圖 所示是總是包括在內，而數(shù)控（ NC）銑床通常不。工業(yè)機器人執(zhí)行逐步得到更多的應用復雜的，但它仍然是，在 2020 年，大約 78%安裝在美國進行焊接或材料搬運機器人的機器人。如果我們的因素這些質量調整成數(shù) ，使用機器人的成本下降甚至比他們的價格標簽更快。12 因此，該報告的數(shù)字為日本有些夸大。在美國北部，在早期有機器設備多采用世紀 80年代，其次是上世紀 80年代后期一個簡短的拉。 主要內容 背景 工業(yè)自動化的 歷史特點是快速變化的時期流行的方法。本書的目的是在一個簡單的介紹材料，直觀的方式。感謝所有那些誰修正了作者的朋友們。此外，這本書強調在計算方面的問題；例如，每章這方面主要以力學有一個簡短的章節(jié)計算考慮。t and carrier, unless they are in the same coordinate system. In this way, we derive expressions for puting numerical solution, bookkeeping problem can be directly applied to the actual. Summary The robot is a typical electromechanical integration device, it uses the latest research results of machinery and precision machinery, microelectronics and puter, automation control and drive, sensor and information processing and artificial intelligence and other disciplines, with the development of economy and all walks of life to the automation degree requirements increase, the robot technology has been developing rapidly, the emergence of a variety of robotic products. The utility of robot products, not only can solve many practical problems difficult to solve by manpower, and the promotion of industrial automation process. At present, the research and development of robot relates to many aspects of the technology, the plexity of system structure, development and development cost is generally high, limiting the application of the technology, to some extent, therefore, the development of economic, practical, high reliability of robot system with a wide range of social significance and economic value. Based on the design of mechanical structure and drive system, the kinematics and dynamics of the cleaning robot is analyzed. Kinematics analysis is the basis of path planning and trajectory control of the manipulator, the kinematics analysis, inverse problem can plete the operation of space position and velocity mapping to drive space, using the homogeneous coordinate transformation method has been the end of manipulator position and arthrosis transform relations between the angle, geometric analysis method to solve the inverse kinematics problem of manipulator, provides a theoretical basis for control system design. The robot dynamics is to study the relationship between the motion and force of science, the purpose of the study is to meet the need of realtime control, this paper use straightaway language introduced the related mechanical industrial robots and control knowledge for us, pointing the way for our future research direction. Robot is a very plicated learning, in order to go into it, you need to constantly learn, the road ahead is long, I shall search. 11 機器人學入門 力學與控制 摘要 本書介紹了科學與工程機械操縱。 the basic properties of most materials suitable for various programmable machine. In general, the mechanical and control research of the mechanical hand is not a new science, but a collection of the theme from the classic field. Mechanical engineering helps to machine learning methods for static and dynamic conditions. The mathematical description of movement of the tool manipulator space supply and other attributes. Provide design evaluation tool to realize the motion and force the desired algorithm control theory. Electrical engineering technology applied in the design of electrical engineering technology for sensor applied in design and industrial robot interface sensor, are programmed to perform the required task of basic puter science and the equipment. Figures： 3 FIGURE : Shipments of industrial robots in North America in millions of US dollars FIGURE : Yearly installations of multipurpose industrial robots for 19952020 and forecasts for 20202020 4 FIGURE : Robot prices pared with human labor costs in the 1990s FIGURE :The Adept 6 manipulator has six rotational joints and is popular in many applications. Courtesy of Adept Technology, Inc. Control of mechanical arm In the study of robots, 3D spatial position we constantly to the object of interest. These objects are all manipulato