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机器人学,随着机器人工业的发展和社会发展的要求,近些年来受到全世界的重视,每年都有大批研究成果发表,这些急速的发展正方兴未艾。机器人学是一门多学科性的综合学科,包括很多领域,我们仅限于讨论工业机器人(Industrial Robot),又叫机器人操作器(Robot Manipulator),在本文中简记为 RM,还有其他名称,如:机械臂(Robot Arm),由关节联接的机械链(ArticulatedKinematic Chain),等。即便是RM,也包括很多领域,因之,我们不得不将讲座仅限于与控制有关的基本理论部分:机器人运动学、机器人动力学,机器人控制,机器人高级控制方案。机器人的主要著作可参看文献[1.1]、[1.2]、[1.3]。
Robotics, with the development of the robot industry and the requirements of social development, has gained worldwide attention in recent years. Every year, a large number of research results are published. These rapid developments are in the ascendant. Robotics is a multidisciplinary and integrated discipline that includes many areas. We are limited to discussing Industrial Robot, also known as Robot Manipulator, abbreviated as RM here, as well as other names, Such as: Robot Arm, Articulated Kinematic Chain, and the like. Even the RM covers a lot of areas, so we have to confine the lectures only to basic theories related to control: robot kinematics, robotics, robotics, robotic advanced control schemes. The main works of the robot can refer to [1.1], [1.2], [1.3].