【正文】 t, they just transfer(sometimes by hand)required for the position, and then be recorded as a mon set of values(., as a position in joint space for later playback).Obviously, if the playback position and motion pattern recording and joint of the purely robot in Cartesian space, no algorithm for the joint space is , the industrial robot is rare, the lack of basic inverse kinematics inverse kinematics problem is not a simple forward kinematics of equation of motion is nonlinear, their solution is not always easy(or even possible in a closed form).At the same time, the existing problems of solutions and multiple solutions study of these problems provides an appreciation of what the human mind nervous system is achieved when we, there seems to be no conscious thought, object movement and our arms and hands is a solution of the presence or absence of a given definition of work solution for the lack of means of mechanical hands can not reach the desired position and orientation, because it is in the manipulator working addition to static positioning problem, we can analyze the robot , the analysis in the actuator velocity, it is convenient to define a matrix called the Jacobi matrix of the speed of Jacobi matrix specified in Descartes from the velocity mapping space and joint space.(see Figure .)This mapping configuration of the manipulator changes the natural some point, called a singularity, this mapping is not to make the phenomenon are important to the understanding of the mechanical hand designers and ：FIGURE : Coordinate systems or ”frames“ are attached to the manipulator and toobjects in the : Kinematic equations describe the tool frame relative to the base frameas a function of the joint : For a given position and orientation of the tool frame, values for the joint variables can be calculated via the inverse : The geometrical relationship between joint rates and velocity of the endeffector can be described in a matrix called the 、Symbol Symbol is always the problems in science and this book, we use the following convention: First: Usually, uppercase variables vector or lowercase ：Tail buoy use(such as the widely accepted)indicating inverse or transposed ：Tail buoy not subject to strict conventions, but may be that the vector ponents(for example, X, Y, Z)or can be used to describe the PBO / P in a position of the ：We will use a lot of trigonometric function, we as a cosine symbol angle E1 can adopt the following methods: because the E1 = CE1 = the vector sign note general: many mechanics textbook treatment number of vector at a very abstract level and often used vector is defined relative to expression in different coordinate most obvious example is, in addition to vector is relative to a given or known a different frame of is usually very convenient, resulting in pact structure, elegant example, consider the angular velocity, connected in series with the last body 176。for example, each chapter it mainly mechanical has a brief section book is used to teach the class notes introduction to robotics, Stanford University in the fall of 1983 to first and second versions have been through 2002 in use from 1986 the third version can also benefit from the revised and improved due to feedback from many to all those who modified the author39。在歐洲地區(qū)，據(jù)統(tǒng)計(jì)2005年與2004年相l(xiāng)：tI業(yè)機(jī)器人在食品加工行業(yè)的應(yīng)用增長(zhǎng)了17％左右，在非金屬加工行業(yè)的應(yīng)用增長(zhǎng)了20％左右，在日用品消費(fèi)行業(yè)增長(zhǎng)了32％，在木材家具加工行業(yè)增長(zhǎng)了18％左右。在國(guó)防軍事、醫(yī)療衛(wèi)生、食品加工、生活服務(wù)等領(lǐng)域工業(yè)機(jī)器人的應(yīng)用也越來(lái)越多。進(jìn)入20世紀(jì)80年代后，隨著改革開(kāi)放的不斷深入，在高技術(shù)浪潮的沖擊下，我國(guó)機(jī)器人技術(shù)的開(kāi)發(fā)與研究得到了政府的重視與支持，“七五”期間，國(guó)家投入資金，對(duì)工定機(jī)器人及零部件進(jìn)行攻關(guān)，完成了示教再現(xiàn)式工業(yè)機(jī)器人成套技術(shù)的開(kāi)發(fā)，研制出了噴漆，點(diǎn)焊，弧焊和搬運(yùn)機(jī)器人。然而，這時(shí)候政府對(duì)工業(yè)機(jī)器人實(shí)行了限制發(fā)展的錯(cuò)誤。德國(guó)引進(jìn)機(jī)器人的時(shí)間比英國(guó)和瑞典大約晚了五六年，但戰(zhàn)爭(zhēng)所導(dǎo)致的勞動(dòng)力短缺，國(guó)民的技術(shù)水平較高等社會(huì)環(huán)境，卻為工業(yè)機(jī)器人的發(fā)展、應(yīng)用提供了有利條件。提高生產(chǎn)效率和保證產(chǎn)品質(zhì)量，消除枯燥無(wú)味的工作，節(jié)約勞動(dòng)力，提供更安全的工作環(huán)境，降低工人的勞動(dòng)強(qiáng)度，減少勞動(dòng)風(fēng)險(xiǎn)，提高機(jī)床，減少工藝過(guò)程中的工作量及降低停產(chǎn)時(shí)間和庫(kù)存，提高企業(yè)競(jìng)爭(zhēng)力。s robot powers started to early, and once in Japan has made the early , at this time the government for industrial robots implemented the constraining mistake in Britain dust, the robot industry in Western Europe was almost in the bottom of recent years, Italy, Sweden, Spain, Finland, Denmark and other countries because of its own domestic robots market in great demand, development at a very fast present, the international on industrial robot pany mainly divided into Japanese and European AnChuan of Japanese are mainly the ethical products, the oTC, panasonic, FANLUC, not two more, products of the pany kawasaki The main Asiatic KUKA, German CLOOS, Sweden39。s ABB, Italy CO work pelatiah U and Austria GM robot in China started in early 1970s, after 30 years development, roughly experienced three stages: in the 1970s and 1980s budding transplanter and the application of the 1990s initialization the 20th century 7039。隨著科技的不斷進(jìn)步，工業(yè)機(jī)器人的發(fā)展過(guò)程可分為三代，第—代，為示教再現(xiàn)型機(jī)器人，它主要由機(jī)器手控制器和示教盒組成，可按預(yù)先引導(dǎo)動(dòng)作記錄下信息重復(fù)再現(xiàn)執(zhí)行，當(dāng)前工業(yè)中應(yīng)用最多。此外，在德國(guó)規(guī)定，對(duì)于一些危險(xiǎn)、有毒、有害的工作崗位，必須以機(jī)器人來(lái)代替普通人的勞動(dòng)。這個(gè)錯(cuò)誤導(dǎo)致英國(guó)的機(jī)器人工業(yè)一蹶不振，在西歐幾乎處于末位。國(guó)家高技術(shù)研究發(fā)展計(jì)劃開(kāi)始實(shí)施，經(jīng)過(guò)幾年研究，取得了一大批科研成果。汽車(chē)制造是一個(gè)技術(shù)和資金高度密集的產(chǎn)業(yè)，也是工業(yè)機(jī)器人應(yīng)用最廣泛的行業(yè)，幾乎占到整個(gè)工業(yè)機(jī)器人的一半以上。工業(yè)機(jī)器人在石油方面也有廣泛的應(yīng)用，如海上石油鉆井、采油平臺(tái)、管道的檢測(cè)、煉油廠、大型油罐和儲(chǔ)罐的焊接等均可使用機(jī)器人來(lái)完成。s book is suitable for advanced undergraduates the first grade students have contributed to the dynamics and linear algebra course in advanced language program in a basic course of addition, it is helpful, but not absolutely necessary, let the students finish the course control purpose of this book is a simple introduction to the material, intuitive , does not need the audience mechanical engineer strict, although much of the material is from the the Stanford University, many electrical engineers, puter scientists, mathematicians find this book very we only on the important part to main contentBackgroundThe historical characteristics of industrial automation is popular during the period of rapid as a cause or an effect of automation technology, period of this change is closely linked to the world of industrial robots, can be identified in a unique device 196039。 W4 39。第一和第二版本已經(jīng)通過(guò)2002在從1986個(gè)機(jī)構(gòu)使用。在斯坦福大學(xué)，許多電氣工程師，計(jì)算機(jī)科學(xué)家，數(shù)學(xué)家發(fā)現(xiàn)這本書(shū)很易讀。值得注意的是，日本的報(bào)告數(shù)量有所不同從其他地區(qū)一樣：