0引言随着经济全球化和信息技术不断发展,当今国际竞争的关键已不再是传统资源等有形资本,而是取决于科技为核心的综合国力。而机器人技术正是在工业领域中代表高科技的典范。工业机器人在工业生产中能代替人做某些单调、频繁和重复的长时间作业,或是危险、恶劣环境下的作业,例如排爆、水下探测、太空研究、 0 Introduction With the continuous development of economic globalization and information technology, the key to international competition today is no longer the physical capital such as traditional resources, but the comprehensive national strength with science and technology as the core. Robotics is an example of high technology in the industrial arena. Industrial robots can do some monotonous, frequent and repetitive long-term operations instead of people in industrial production or operate in dangerous and harsh environments such as explosives, underwater exploration, space research,