A more challenging field, industrial robots, accounted for 10% unit。 This book focuses on the dynamics and control of 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 programmed 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。

In 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 manipulator 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： FIGURE 1。1: Shipments of industrial robots in North America in millions of USdollars

FIGURE 1。2: Yearly installations of multipurpose industrial robots for 1995-2000 andforecasts for 2001-2004

FIGURE 1。3: Robot prices compared with human labor costs in the 1990s

2、Control of mechanical arm

In the study of robots, 3D spatial position we constantly to the object of interest。 These objects are all manipulator links, parts and tools, it deals, and other objects in the robot's 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 manipulate 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 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 description。 The 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 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 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 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 rotating 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 specified 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 chain, because each joint position usually define a variable, the node is equal to the number of degrees of freedom。