一、前言机器人自六十年代初登场以来,仅仅十几年的时间,已经在技术先进的国家的工业领域获得了相当广泛的应用。其性能也有显著提高,从过去只能反复作业或顺序作业已经发展到能适应作业的对象和环境了。目前,由于电子计算机特别是微计算机的发展,国外正积极从事带电脑的具有复杂功能的机器人的研究。对应用于工业的工业机器人一般均具有检测大局环境信息的视觉和直接触动作业对象的触觉。电脑将各感觉装置反馈回来的信号进行处理, I. INTRODUCTION Since its debut in the early 1960s, robots have enjoyed a fairly wide range of applications in the industrial field of technologically advanced countries in only a dozen or so years. Its performance has also been significantly improved from the past can only be repeated operations or sequential operations have been developed to adapt to the operation of the object and the environment. Currently, due to the development of electronic computers, especially microcomputers, foreign countries are actively engaged in the research of robots with complicated functions with computers. Industrial robots used in industry generally have the visual sense of detecting the overall situation information and the touch of touching the work object directly. The computer will feel the feedback signal from the device for processing,