1、中文 4760 字 外 文 翻 译 Introduction to Robotics Mechanics and Control 机器人学入门 力学与控制 系 别： 机械与汽车工程系 专业名 称 ： 机械设计制造及其自动化 学生姓 名： 学 号： 指导教师姓名、职称 ： 完成日期 2014 年 2 月 28 日 1 Introduction to Robotics Mechanics and Control Abstract This book introduces the science and engineering of mechanical manipulation. This bra
2、nch of the robot has been in several classical field based. The main related fields such as mechanics, control theory, computer science. In this book, Chapter 1 through 8 topics ranging from mechanical engineering and mathematics, Chapter 9 through 11 cover control theory of material, and twelfth an
3、d 13 may be classified as computer science materials. In addition, this book emphasizes the computational aspects of the problem； for example, each chapter it mainly mechanical has a brief section calculation. This book is used to teach the class notes introduction to robotics, Stanford University i
4、n the fall of 1983 to 1985. The first and second versions have been through 2002 in use from 1986 institutions. Using the third version can also benefit from the revised and improved due to feedback from many sources. Thanks to all those who modified the authors friends. This book is suitable for ad
5、vanced undergraduates the first grade curriculum. If students have contributed to the dynamics and linear algebra course in advanced language program in a basic course of statics. In addition, it is helpful, but not absolutely necessary, let the students finish the course control theory. The purpose
6、 of this book is a simple introduction to the material, intuitive way. Specifically, does not need the audience mechanical engineer strict, although much of the material is from the field. At the Stanford University, many electrical engineers, computer scientists, mathematicians find this book very
7、readable. Here we only on the important part to extract. The main content 1、 Background The historical characteristics of industrial automation is popular during the period of rapid change. Either as a cause or an effect of automation technology, period of this change is closely linked to the world
8、economy. Use of industrial robots, can be identified in a unique device 1960s, with the development of computer aided design (CAD) system and computer aided manufacturing (CAM) system, the latest trends, automated manufacturing process. The technology is the leading industrial automation through ano
9、ther transition, its scope is still unknown. In the northern America, machinery and equipment used in early 80s of the 20th century, the late 80s of the 20th century a short pull. Since then, the market more and more 2 (Figure 1.1), although it is affected by economic fluctuations, all the market. F
10、igure 1.2 shows the robots were installed in a large number of annual world industrial zone. Notably, the number of Japans report is different from other areas: they count the number of machine of robot in other parts of the world are not considered robot (instead, they would simply be considered fa
11、ctory machines). Therefore, the reported figures for the Japanese exaggerated. One of the main reason for the growth in the use of industrial robots is that they are falling costs. Fig. 1.3 shows that, in the last century 90s ten years, robot prices dropped although human labor costs. At the same ti
12、me, the robot is not only cheaper, they become more effective and faster, more accurate, more flexible. If we factor these quality adjusted to the number, the use of robots to decrease the cost of even than their price tag faster. More cost-effective in the robot they become, as human labor to becom
13、e more expensive, more and more industrial work become robot automation candidate. This is the most important trend to promote the industrial robot market growth. The second trend is, in addition to the economic, as robots become more can become more tasks they can do, may have on human workers enga
14、ged in dangerous or impossible. Industrial robots perform gradually get more complex, but it is still, in 2000, about 78% installation welding or material handling robot in USA robot. A more challenging field, industrial robots, accounted for 10% unit. This book focuses on the dynamics and control o
15、f the most important forms of industrial robot, manipulator. What is the industrial robot is sometimes debate. Equipment, as shown in Figure 1.4 is always included, and CNC milling machine (NC) is usually not. The difference lies in the programmable complex place if a mechanical device can be progra
16、mmed to perform a variety of applications, it may be an industrial robot. This is the part of a limited class of tasks are considered fixed automation. For the purpose of this difference, do not need to be discussed； the basic properties of most materials suitable for various programmable machine. I
17、n 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 manipulat
18、or 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 computer science and the equipment. Figures：
