一、引言近年来“机器人”在日本、美国等技术先进国家发展很快它已不只是为了减轻人的重复,繁重劳动和避免恶劣环境对人的危害,更重要的原因是能做到人工直接无法达到的精度、速度(如集成电路的生产)和人类难以置身其中的工作场所(如原子能、海 I. INTRODUCTION In recent years, “robot” has developed rapidly in Japan, the United States and other technologically advanced countries. It has not only reduced human repetition and heavy labor but also harmed people in harsh environments. The more important reason is that it can do manual direct Unachievable precision, speed (such as the production of integrated circuits) and workplaces where humans are hard-pressed to find themselves (eg atomic energy, sea