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1、优质文档外 文 翻 译Introduction to RoboticsMechanics and Control机器人学入门力学和限制系别：机械和汽车工程系专业名称：机械设计制造及其自动化 学生姓名：郭仕杰学号： 指导老师姓名、职称： 贺秋伟 副教授完成日期 2014 年2 月28日Introduction to RoboticsMechanics and ControlAbstractThis book introduces the science and engineering of mechanical manipulation. This branch of the robot has

2、 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 and 13 may be classifi

3、ed 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 in the fall of 1983 t

4、o 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 advanced undergraduate

5、s 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 of this book is a s

6、imple 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 readable. Here we on

7、ly on the important part to extract.The main content1、 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 economy. Use of indust

8、rial 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 another transition, its s

9、cope 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 (Figure 1.1), although it is affected by economic fluctuations, all the market. Figure 1.2 shows the robo

10、ts 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 factory machines). Therefo

11、re, 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 time, the robot is not only

12、 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 become more expensive, more an

13、d 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 engaged in dangerous or impos

14、sible. 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 of the most important forms

15、 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 programmed to perform a variety

16、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.In general, the mechanical a

17、nd 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 manipulator space supply and other a

18、ttributes. 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 t

19、he required task of basic computer science and the equipment.Figures：FIGURE 1.1: Shipments of industrial robots in North America in millions of USdollarsFIGURE 1.2: Yearly installations of multipurpose industrial robots for 1995-2000 andforecasts for 2001-2004FIGURE 1.3: Robot prices compared with h

20、uman labor costs in the 1990sFIGURE 1.4:The Adept 6 manipulator has six rotational joints and is popular in manyapplications. Courtesy of Adept Technology, Inc.2、 Control of mechanical armIn the study of robots, 3D spatial position we constantly to the object of interest. These objects are all manip

21、ulator links, parts and tools, it deals, and other objects in the robots environment. In a coarse and important level, these objects are described by two attributes: the position and direction. Of course, a direct interest in the topic is the attitude in which we represent these quantities and manip

22、ulate their mathematics.In order to describe the human body position in space and direction, we will always highly coordinate system, or frame, rigid object. Then we continue to describe the position and orientation of the reference frame of the coordinate system. Any framework can be used as a refe

23、rence 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 description. The 2 chapter discusses the Convention methods of dealing with job descriptions discussed method of treating and p

24、ost convention described positioning and manipulation of coordinate system the quantity and mathematics different. Well developed skills relevant to the position and rotation of the description and is very useful in the field of rigid robot.Kinematics is the science of sports, the movement does not

25、consider the force which resulted in it. 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 a

26、nd temporal characteristics of all movement. The manipulator comprises nearly rigid connection, which is the relative movement of the joint connection of adjacent links. These nodes are usually instrument position sensor, so that adjacent link is a relative position measurement. In the case of rotat

27、ing or rotary joint, the displacement is called the joint angle. Some robots including sliding (or prism) connection, in which the connection between the relative displacement is a translation, sometimes called the joint offset. The manipulator has a number of independent position variables are spec

28、ified as the mechanism to all parts of the. This is a very general term, any mechanism. For 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

29、 chain, because each joint position usually define a variable, the node is equal to the number of degrees of freedom.The free end of the link chain consisting of the manipulator end effector. According to the application of robot, the end effector can be a starting point, the torch, electromagnet, o

30、r other device. We 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 manipulator. In the study of mechanical operation of a very basic problem is the kinematics. This is to compute the posi

31、tion of mechanical static geometric problems in hand terminal positioning. Specifically, given a set of joint angles, the forward kinematics problem is to compute the position and orientation relative to the base of the tool holder. Sometimes, we think this is a change from the joint space is descri

32、bed as a manipulator position that Cartesian space description. This problem will be discussed in the 3 chapter. In the 4 chapter, we will consider the inverse kinematics problem. The problems are as follows: the end effector position and direction of the manipulator, computing all possible joint an

33、gle, can be used to achieve the position and direction of a given. (see Figure 1.7.) This is a practical problem of manipulator is fundamental. This is quite a complex geometry problem, the conventional solution in tens of thousands of humans and other biological systems time every day. In a case li

34、ke a robot simulation system, we need to create computer control algorithm can make the calculation. In some ways, the solution to this problem is the most important element in the operating system.This is quite a complex geometry problem, the conventional solution in tens of thousands of humans and

35、 other biological systems time every day. In a case like a robot simulation system, we need to create computer control algorithm can make the calculation. In some ways, the solution to this problem is the most important element in the operating system.We can use this problem as a mapping on 3D Desca

36、rtes position space position in the robot joint space. This need will occur when the 3D spatial objects outside the specified coordinates. Lack of this kind of algorithm some early robot, they just transfer (sometimes by hand) required for the position, and then be recorded as a common set of values

37、 (i.e., 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 necessary. However, the industrial robot is rare, the lack of basic inverse kinematics algo

38、rithm. The inverse kinematics problem is not a simple forward kinematics of A. The 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 occur. The study of these problems pr

39、ovides 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 operation. Manipulator is a solution of the presence or absence of a given definition of work area. A solution for the lack of means of mec

40、hanical hands can not reach the desired position and orientation, because it is in the manipulator working area.In addition to static positioning problem, we can analyze the robot motion. Usually, the analysis in the actuator velocity, it is convenient to define a matrix called the Jacobi matrix of

41、the manipulator. The speed of Jacobi matrix specified in Descartes from the velocity mapping space and joint space. (see Figure 1.8.) This mapping configuration of the manipulator changes the natural changes. At some point, called a singularity, this mapping is not to make the transformation. This p

42、henomenon are important to the understanding of the mechanical hand designers and users.Figures：FIGURE 1.5: Coordinate systems or frames are attached to the manipulator and toobjects in the environment.FIGURE 1.6: Kinematic equations describe the tool frame relative to the base frameas a function of

43、 the joint variables.FIGURE 1.7: For a given position and orientation of the tool frame, values for thejoint variables can be calculated via the inverse kinematics.FIGURE 1.8: The geometrical relationship between joint rates and velocity of theend-effector can be described in a matrix called the Jac

44、obian.3、SymbolSymbol is always the problems in science and engineering. In this book, we use the following convention:First: Usually, uppercase variables vector or matrix. Scalar lowercase variables.Second：Tail buoy use (such as the widely accepted) indicating inverse or transposed matrix.Third：Tail

45、 buoy not subject to strict conventions, but may be that the vector components (for example, X, Y, Z) or can be used to describe the PBO / P in a position of the bolt.Fourth：We will use a lot of trigonometric function, we as a cosine symbol angle E1 can adopt the following methods: because the E1 =

46、CE1 = C1.In 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 systems. The most obvious example is, in addition to vector is relative to a given or known a differen

47、t frame of reference. This is usually very convenient, resulting in compact structure, elegant formula. For example, consider the angular velocity, connected in series with the last body W4 four rigid body (such as the manipulator links) relative to the fixed seat chain. Due to the angular velocity

48、vector addition, angular velocity equation at last link we can write a very simple vector:However, unless the information is relative to a common coordinate system, they cannot be concluded, therefore, although elegant, equation (1.1) calculation. Most of the work. A case study of the manipulator, s

49、uch statements, (1.1) work coordinate system hidden bookkeeping, which is often we need to practice. Therefore, in this book, we put the symbol reference frame vectors, we dont and carrier, unless they are in the same coordinate system. In this way, we derive expressions for computing numerical solu

50、tion, bookkeeping problem can be directly applied to the actual.SummaryThe robot is a typical electromechanical integration device, it uses the latest research results of machinery and precision machinery, microelectronics and computer, automation control and drive, sensor and information processing

51、 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 solv

52、e 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 complexity of system structure, development and development cost is generally high, limiting

53、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 cleanin

54、g robot is analyzed. Kinematics analysis is the basis of path planning and trajectory control of the manipulator, the kinematics analysis, inverse problem can complete the operation of space position and velocity mapping to drive space, using the homogeneous coordinate transformation method has been

55、 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

56、 of science, the purpose of the study is to meet the need of real-time 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 complicated learning, in order to

57、 go into it, you need to constantly learn, the road ahead is long, I shall search.机器人学入门力学和限制摘要本书介绍了科学和工程机械操纵。这一分支学科的机器人已经在几个经典的领域为根底的。主要的相关的领域是力学，限制理论，计算机科学。在这本书中，第1章通过8个主题涵盖机械工程和数学，第9章通过11个盖限制理论材料，第12和13章可能被归类为计算机科学材料。此外，这本书强调在计算方面的问题；例如，每章这方面主要以力学有一个简短的章节计算考虑。这本书是从课堂笔记用来教机器人学导论，斯坦福大学在1983的秋天到1985

58、。第一和其次版本已经通过2002在从1986个机构运用。第三版也可以从中受益的运用和采纳的修正和改良由于很多来源的反应。感谢全部那些谁修正了作者的挚友们。这本书是适合高年级本科生一年级的课程。假如学生已经在静力学的一门根底课程有助于动力学和线性代数课程可以在高级语言程序。此外，它是有协助的，但不是肯定必要的，让学生完成入门课程限制理论。本书的目的是在一个简洁的介绍材料，直观的方式。详细地说，观众不须要严格的机械工程师，虽然大局部材料是从那场。在斯坦福大学，很多电气工程师，计算机科学家，数学家发觉这本书很易读。在这里我们仅对其中重要局部做出摘录。主要内容 1、背景 工业自动化的历史特点是快速变更

59、的时期流行的方法。无论是作为一个缘由或一个效果，这种变更的时期自动化技术是严密联系在一起的世界经济。利用工业机器人，成为可识别在1960年头的一个独特的装置，随着计算机协助设计CAD系统和计算机协助制造CAM系统的特点，最新的趋势，制造业的自动化过程。这些技术是领先的工业自动化通过另一个过渡，其范围仍旧是未知的。在美国北部，在早期有机器设备多采纳世纪80年头，其次是上世纪80年头后期一个简短的拉。自那时起，市场越来越多的图1.1，虽然它是受经济波动，是全部市场。图1.2显示的机器人被安装在大数每年世界各国的工业区。值得留意的是，日本的报告数量有所不同从其他地区一样：他们算一些机器的机器人在世界

60、的其他地方都没有考虑机器人而不是，他们会简洁地认为是“工厂的机器”。因此，该报告的数字为日本有些夸张。在工业机器人的运用增长的一个主要缘由是他们正在下降本钱。图1.3说明，在上世纪90年头的十年中，机器人的价格下降了虽然人类的劳动本钱增加。同时，机器人不只是越来越廉价，他们变得更有效更快，更精确，更敏捷的。假如我们的因素这些质量调整成数，运用机器人的本钱下降甚至比他们的价格标签更快。在他们的工作机器人变得更具本钱效益的，作为人类劳动接着变得更加昂贵，越来越多的工业工作成为机器人自动化的候选人。这是最重要的趋势推动了工业机器人的市场增长。其次个趋势是，除了经济，随着机器人变得更能成为他们能够做的

61、更多以上的任务，可能对人类工人从事危急的或不行能的。工业机器人执行逐步得到更多的应用困难的，但它仍旧是，在2000年，大约78%安装在美国进展焊接或材料搬运机器人的机器人。一个更具挑战性的领域，工业机器人，占10%装置。这本书着重于力学和最重要的形式限制的工业机器人，机械手。究竟什么是工业机器人是有时辩论。设备，如图1.4所示是总是包括在内，而数控NC铣床通常不。区分在于的可编程的困难的地方假如一个设备机械设备可以被编程为执行各种应用程序，它可能是一个工业机器人。这是最机局部有限的一类的任务被认为是固定的自动化。为目的本文的区分，不须要探讨；大多数材料的根本性质适用于各种可编程机。总的来说，其

62、力学和限制机械手的探究不是一个新的科学，而只是一个收集的主题从“经典”的领域。机械工程有助于机器学习方法静态和动态的状况下。数学描述空间供给工具机械手的运动和其他属性。限制理论供给了工具以实现所期望的运动和力的应用评价算法设计。电气工程技术施加在传感器的设计电气工程技术施加在传感器的设计和工业机器人接口，和计算机科学的根底这些设备进展编程以执行所需任务。附图： 图1.1在数以百万计的人在美国北部的工业机器人的出货量美元 图1.2 年安装的多用途的工业机器人1995-2000年和2001年至2004年预料 图1.3 机器人的价格和上世纪90年头的人类劳动本钱的比拟 图1.4 娴熟的6臂有六个转动

63、关节流行于众多制造行业2、力学和机械臂的限制机器人的探究中，我们不断的关注对象的位置三维空间。这些对象是机械手的链接，零件和工具，它的交易，并在机器人的环境的其他对象。在一个粗而重要的水平，这些对象是由两个属性描述：位置和方向。当然，一个干脆感爱好的话题是看法在我们所代表的这些量和操纵他们的数学。为了描述人体在空间中的位置和方向，我们将始终高度坐标系统，或框架，严格的对象。然后我们接着相对于一些参考描述该帧的位置和方向坐标系统。任何框架可以作为一个参考系统内的表达一个身体的位置和方向，所以我们经常认为转化或变更身体的这些属性从一帧到另一个的描述。2章探讨了公约的方法处理和职位描述探讨了公约的方

64、法处理和职位描述定位和操纵这些量和数学不同的坐标系统。开展良好的技能有关的位置和旋转的描述甚至在刚体机器人领域是特别有用的。运动学是科学的运动，对运动不考虑力这导致它。在运动学的科学探究，一个位置，速度，加速度，和全部的高阶导数的位置变量相对于时间或任何其他变量S。因此，机械手的运动学探究是指全部的运动的几何和时间特性。机械手包括近刚性连接，这是由关节连接允许相邻链接的相对运动。这些节点通常仪表有位置传感器，使邻近的链接是相对位置测量。在旋转或旋转接头的状况下，这些位移被称为关节角度。一些机器人包含滑动或棱镜连接，其中之间的联系相对位移是一个翻译，有时也被称为联合偏移量。机械手具有数独立的位置

65、的变量会被指定为定位该机制的全部局部。这是一个总称，任何机制。为例如，一个四连杆机构只有一个自由度即使有三运动的成员。在典型的工业机器人的状况下，因为机器人通常是一个开放的运动链，因为每个关节的位置通常定义一个变量，节点的数目等于自由度。在链接组成的机械手的末端执行器的自由端链。依据机器人的应用，末端执行器可以是一个抓手，焊枪，电磁铁，或其他装置。我们一般通过描述工具的框架描述的机械手的位置，这是连接到端部执行器，相对于底座，所对移动机械手的根底。在机械操作的探究一个特别根本的问题就是了运动学。这是计算的位置的静态几何问题机械手的末端定位。详细而言，给定一组关节角，正向运动学问题是计算位置和方向工具架相对于底座。有时，我们认为这是变更从关节空间描述为一个机械手位置的表示笛卡尔空间的描述。“这个问题将在3章探讨。在4章中，我们将考虑的逆运动学问题。这个问题提出了如下：给出了末端执行器的位置和方向机械手，计算全部可能的关节角