【正文】 在完成機(jī)械結(jié)構(gòu)和驅(qū)動系統(tǒng)設(shè)計的基礎(chǔ)上，對物料抓取機(jī)械手運(yùn)動學(xué)和動力學(xué)進(jìn)行了分析。四剛體（如機(jī)械手的鏈接）相對的固定座鏈。 第二、 尾標(biāo)使用（如被廣泛接受的）指示逆或轉(zhuǎn)置矩陣。通常，在執(zhí)行機(jī) 構(gòu)的速度分析，它是方便的定義一個矩陣的數(shù)量稱為機(jī)械手的雅可比矩陣 .指定的速度雅可比矩陣在笛卡爾從關(guān)節(jié)空間的速度映射空間。然而 ，是罕見的工業(yè)機(jī)器人，缺乏基本的逆運(yùn)動學(xué)算法。在某些方面，這個問題的解決方案是在操作系統(tǒng)中最重要的元素。有時，我們認(rèn)為這是改變從關(guān)節(jié)空間描述為一個機(jī)械手位置的表示笛卡爾空間的描述。為例如，一個四連桿機(jī)構(gòu)只有一個自由度（即使有三運(yùn)動的成員）。在運(yùn)動學(xué)的科學(xué)研究，一個位置，速度，加速度，和所有的高階導(dǎo)數(shù)的位置變量（相對于時間或任何其他變量（ S））。在一個粗而重要的水平，這些對象是由兩個屬性描述：位置和方向。為目的本文的區(qū)別，不需要討論；大多數(shù)材料的基本性質(zhì)適用于各種可編程機(jī)。第二個趨勢是，除了經(jīng)濟(jì)，隨著機(jī)器人變得更能成為他們能夠做的更多以上的任務(wù)，可能對人類工人從事危險的或不可能的。值得注意的是，日本的報告數(shù)量有所不同從其他地區(qū)一樣：他們算一些機(jī)器的機(jī)器人在世界的其他地方都沒有考慮機(jī)器人（而不是，他們會簡單地認(rèn)為是“工廠的機(jī)器”）。在這里我們僅對其中重要部分做 出摘錄。第三版也可以從 中受益的使用和采用的修正和改進(jìn)由于許多來源的反饋。four rigid body (such as the manipulator links) relative to the fixed seat chain. Due to the angular velocity vector addition, angular velocity equation at last link we can write a very simple vector: 10 However, unless the information is relative to a mon coordinate system, they cannot be concluded, therefore, although elegant, equation () calculation. Most of the work. A case study of the manipulator, such statements, () work coordinate system hidden bookkeeping, which is often we need to practice. Therefore, in this book, we put the symbol reference frame vectors, we don39。s, with the development of puter aided design (CAD) system and puter aided manufacturing (CAM) system, the latest trends, automated manufacturing process. The technology is the leading industrial automation through another transition, its scope is still unknown. In the northern America, machinery and equipment used in early 8039。s of the 20th century, the late 8039。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(jī)器人學(xué)入門 力學(xué)與控制 摘要 本書介紹了科學(xué)與工程機(jī)械操縱。感謝所有那些誰修正了作者的朋友們。 主要內(nèi)容 背景 工業(yè)自動化的 歷史特點(diǎn)是快速變化的時期流行的方法。12 因此，該報告的數(shù)字為日本有些夸大。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 2020 年，大約 78%安裝在美國進(jìn)行焊接或材料搬運(yùn)機(jī)器人的機(jī)器人。 總的來說，其力學(xué)和控制機(jī)械手的研究不是一個新的科學(xué)，而只是一個收集的主題從“經(jīng)典”的領(lǐng)域。當(dāng)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(xué)。因此，機(jī)械手的運(yùn)動學(xué)研 究是指所有的運(yùn)動的幾何和時間特性。在典型的工業(yè)機(jī)器人的情況下，因為機(jī)器人通常是一個開放的運(yùn)動鏈，因為每個關(guān)節(jié) 的位置通常定義一個變量，節(jié)點(diǎn)的數(shù)目等于自由度。“這個 問題將在 3章探討。 這是一個相當(dāng)復(fù)雜的幾何問題，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。逆運(yùn)動學(xué)問題不是簡單的正向運(yùn)動學(xué)一個。（見圖 。 第三、 尾標(biāo)不受嚴(yán)格的公約，但可能表明向量的組件（例如， X， Y， Z）或可用于 述在 PBO / P 一個螺栓的位置。由于角速度矢量相加，我們可以寫一個非常簡單的向量的最后環(huán)節(jié)的角速度方程： 20 然而，除非這些量是相對于一個共同的坐標(biāo)表示系統(tǒng)，他們不能總結(jié)，所以，雖然優(yōu)