【正文】 感覺型機(jī)器人，如有力覺觸覺和視覺等，它具有對(duì)某些外界信息進(jìn)行反饋調(diào)整的能力，目前已進(jìn)入應(yīng)用階段。美國(guó)是機(jī)器人的誕生地，早在1961年，美國(guó)的ConsolidedControlCorp和AMF公司聯(lián)合研制了第一臺(tái)實(shí)用的示教再現(xiàn)機(jī)器人。其技術(shù)全面、先進(jìn)，適應(yīng)性也很強(qiáng)。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。這為機(jī)器人的應(yīng)用開拓了廣泛的市場(chǎng)，并推動(dòng)了工業(yè)機(jī)器人技術(shù)的發(fā)展。法國(guó)政府一直比較重視機(jī)器人技術(shù)，通過大力支持一系列研究計(jì)劃，建立了一個(gè)完整的科學(xué)技術(shù)體系，使法國(guó)機(jī)器人的發(fā)展比較順利。而由工業(yè)界支持開展應(yīng)用和開發(fā)方面的工作，兩者相輔相成，使機(jī)器人在法國(guó)企業(yè)界得以迅速發(fā)展和普及，從而使法國(guó)在國(guó)際工業(yè)機(jī)器人界擁有不可或缺的一席之地。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。近些年，意大利、瑞典、西班牙、芬蘭、丹麥等國(guó)家由于自身國(guó)內(nèi)機(jī)器人市場(chǎng)的大量需求，發(fā)展速度非常迅速。日系中主要有安川、oTC、松下、FANLUC、不二越、川崎等公司的產(chǎn)品。我國(guó)工業(yè)機(jī)器人起步于20世紀(jì)70年代初期，經(jīng)過30多年發(fā)展，大致經(jīng)歷了3個(gè)階段：70年代萌芽期，80年代的開發(fā)期和90年代的應(yīng)用化期。進(jìn)入20世紀(jì)80年代后，隨著改革開放的不斷深入，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)的開發(fā)，研制出了噴漆，點(diǎn)焊，弧焊和搬運(yùn)機(jī)器人。成功地研制出了一批特種機(jī)器人。但是與發(fā)達(dá)國(guó)家相比，我國(guó)工業(yè)機(jī)器人還有很大差距。從傳統(tǒng)的汽車制造領(lǐng)域向非制造領(lǐng)域延伸。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)用也越來越多。在我國(guó)，工業(yè)機(jī)器人最初也是應(yīng)用于汽車和工程機(jī)械行業(yè)中。據(jù)預(yù)測(cè)我國(guó)正在進(jìn)入汽車擁有率上升時(shí)期，在未來幾年里，汽車仍將每年15％左右的速度增長(zhǎng)。工業(yè)機(jī)器人除了在汽車行業(yè)的廣泛應(yīng)用，在電子，食品加工，非金屬加工，日用消費(fèi)品和木材家具加工等行業(yè)對(duì)工業(yè)機(jī)器人的需求也快速增長(zhǎng)。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。在未來幾年，傳感技術(shù)，激光技術(shù)，工程網(wǎng)絡(luò)技術(shù)將會(huì)被廣泛應(yīng)用在工業(yè)機(jī)器人工作領(lǐng)域，這些技術(shù)會(huì)使工業(yè)機(jī)器人的應(yīng)用更為高效，高質(zhì)，運(yùn)行成本低。在我國(guó)，工業(yè)機(jī)器人市場(chǎng)份額大部分被國(guó)外工業(yè)機(jī)器人企業(yè)占據(jù)著。如今我國(guó)正從一個(gè)“制造大國(guó)”向“制造強(qiáng)國(guó)”邁進(jìn)，中國(guó)制造業(yè)面臨著與國(guó)際接軌、參與國(guó)際分工的巨大挑戰(zhàn)，對(duì)我國(guó)工業(yè)自動(dòng)化的提高迫在眉睫，政府務(wù)必會(huì)加大對(duì)機(jī)器人的資金投入和政策支持，將會(huì)給工業(yè)機(jī)器人產(chǎn)業(yè)發(fā)展注入新的動(dòng)力。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 movement).In the case of the typical industrial robots, because the robots is usually an open kinematic chain, because each joint position usually define a variable, the node is equal to the number of degrees of free end of the link chain consisting of the manipulator end to the application of robot, the end effector can be a starting point, the torch, electromagnet, or other usually by mechanical hand position description framework description tool, which is connected to the end effector, relative to the base, the base of the mobile the study of mechan