Introduction to Robotics Mechanics and Control Abstract This book introduces the science and engineering of mechanical manipulation。 This branch 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 and 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 in 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 author's friends。 This book is suitable for advanced 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 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 readable。 Here we only on the important part to extract。83505

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 economy。 Use of industrial robots, can be identified in a unique device 1960's, 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 scope is still unknown。 In the northern America, machinery and equipment used in early 80's of the 20th century, the late 80's 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 robots were installed in a large number of annual world industrial zone。 Notably, the number of Japan's 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")。 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 90's ten years, robot prices dropped although human labor costs。 At the same time, 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 become 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 engaged 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。