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（Title）:The Development Of 6 DOF Robot Arm Control System 题目：六自由度机器臂控制系统的开发 系 别： 电气工程系 专 业： 自动化 姓 名： 梁健伟 学 号： 2010020343159 指导教师： 陈朝大 日 期： 2014年5月 英中翻译 The Development Of 6 DOF Robot Arm Control System 六自由度机器臂控制系统的开发 Manipulator is the earliest industrial robots, but also the earliest modern robot, which can replace human labor in order to achieve the production of heavy mechanization and automation, can operate in hazardous environments to protect the personal safety , which are widely used in machinery manufacturing, metallurgy , electronics, light industry and atomic energy sectors. Robotic applications in the industry as industrial structure and function of the early mechanical manipulators are relatively simple, professional, can only be completed with a host ancillary tasks such as crawling Work piece loading unloading , for clip knives , etc. This is called a dedicated robotic manipulator with the development of industrial technology, the emergence of the robotic arm can be independently controlled by the program , auto repeat , which has a robotic arm can quickly change the program functions , adaptability, has been widely used in the industrial production of small quantity and variety of such robotic manipulator called Universal , Universal manipulator , also known as industrial robots that the first generation of robots. robot on the basis of has been further developed , there has been a robot with some sensory function (eg visual, tactile , auditory ) , called second -generation robot , and later appeared with some of the thinking and language features intelligent robots , called third generation of robots. 机械臂是最早出现的工业机器人，也是最早出现的现代机器人，它可代替人的繁重劳动以实现生产的机械化和自动化，能在有害环境下操作以保护人身安全，因而广泛应用于机械制造、冶金、电子、轻工和原子能等部门。在工业中应用的机械臂称为“工业机械?早期的机械臂的结构和功能都比较简单，专业性强，仅能配合某台主机完成辅助性工作，如抓取工件、上料下料、换夹刀具等。这种机械臂称为专用机械臂。随着工业技术的发展，出现了能够独立地按控制程序、自动重复操作的机械臂，这种机械臂具有能很快地改变程序功能，适应性强，在中小批量、多品种的工业生产中得到了广