工业机器人机械手外文翻译

1、外 文 翻 译Introduction to RoboticsMechanics 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：郭仕杰学号： 06101315指导教师姓名、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

2、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 and 13 may be class

3、ified 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 198

4、3 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 advanced undergradu

5、ates 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

6、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 readable. Here we

7、 only on the important part to extract.The main content1、 BackgroundThe 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 indu

8、strial 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

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

10、bots 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). There

11、fore, 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 on

12、ly 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

13、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 engaged in dangerous or imp

14、ossible. 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 for

15、ms 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 variet

16、y 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

17、 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 manipulator space supply and other

18、 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

19、 the 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

20、 human 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 man

21、ipulator 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 man

22、ipulate 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 re

23、ference 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

24、 post 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 no

25、t 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

26、 and 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 rot

27、ating 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 sp

28、ecified 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 kinemat

29、ic 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,

30、 or 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 po

31、sition 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 desc

32、ribed 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

33、angle, 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

34、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.This is quite a complex geometry problem, the conventional solution in tens of thousands of humans a

35、nd 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 Des

36、cartes 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 valu

37、es (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 al

38、gorithm. 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

39、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 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 m

40、echanical 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 o

41、f 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

42、 phenomenon 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

43、of 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 J

44、acobian.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：Ta

45、il 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 differ

47、ent 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 velocit

48、y 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,

49、 such 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 so

50、lution, 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 processi

51、ng 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 so

52、lve 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, limitin

53、g 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 clean

54、ing 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 be

55、en 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 for

56、ce 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

57、to go into it, you need to constantly learn, the road ahead is long, I shall search.机器人学入门力学与控制摘要本书介绍了科学与工程机械操纵。这一分支学科的机器人已经在几个经典的领域为基础的。主要的相关的领域是力学，控制理论，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个盖控制理论材料，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19

58、85。第一和第二版本已经通过2002在从1986个机构使用。第三版也可以从中受益的使用和采用的修正和改进由于许多来源的反馈。感谢所有那些谁修正了作者的朋友们。这本书是适合高年级本科生一年级的课程。如果学生已经在静力学的一门基础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，它是有帮助的，但不是绝对必要的，让学生完成入门课程控制理论。本书的目的是在一个简单的介绍材料，直观的方式。具体地说，观众不需要严格的机械工程师，虽然大部分材料是从那场。在斯坦福大学，许多电气工程师，计算机科学家，数学家发现这本书很易读。在这里我们仅对其中重要部分做出摘录。主要内容1、背景 工业自动化的历史特点是快速变

59、化的时期流行的方法。无论是作为一个原因或一个效果，这种变化的时期自动化技术是紧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年代的一个独特的装置，随着计算机辅助设计（CAD）系统和计算机辅助制造（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，其范围仍然是未知的。在美国北部，在早期有机器设备多采用世纪80年代，其次是上世纪80年代后期一个简短的拉。自那时起，市场越来越多的（图1.1），虽然它是受经济波动，是所有市场。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。值得注意的是，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的其他地方都没有考虑机器人（而不是，他们会简单地认为是“工厂的机器”）。因此，该报告的数字为日本