【正文】 s for the Japanese of the main reason for the growth in the use of industrial robots is that they are falling shows that, in the last century 9039。s of the 20th century, the late 8039。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。第一篇：工業(yè)機器人機械手外文翻譯外 文 翻 譯Introduction to RoboticsMechanics and Control機器人學(xué)入門力學(xué)與控制系別： 機械與汽車工程系 專學(xué)業(yè)生名姓稱： 機械設(shè)計制造及其自動化 名： 郭仕杰學(xué)號：06101315 指導(dǎo)教師姓名、職稱： 賀秋偉 副教授完成日期 2014 年2 月28日 Introduction to RoboticsMechanics and ControlAbstract This book introduces the science and engineering of mechanical branch of the robot has been in several classical field main related fields such as mechanics, control theory, puter this book, Chapter 1 through 8 topics ranging from mechanical engineering and mathematics, Chapter 9 through 11 cover control theory of material, and twelfth and 13 may be classified as puter science addition, this book emphasizes the putational aspects of the problem。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。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 of the 20th century a short then, the market more and more(Figure ), although it is affected by economic fluctuations, all the shows the robots were installed in a large number of annual world industrial , the number of Japan39。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。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 relative position the case of rotating or rotary joint, the displacement is called the joint robots including sliding(or prism)connection, in which the connection between the relative displacement is a translation, sometimes called the joint manipulator has a number of independent position variables are specified as the mechanism to all parts of is a very general term, any example, a four connecting rod mechanism has only one degree of freedom(even with three members of the moveme