介绍机器人的特点、结构类型、性能指标、应用及发展概况；讨论机器人学的数学基础，用齐次变换描述刚体的空间位姿，求取等效转角和等效转轴；采用基本方法：D-H（Denavit-Hartenberg）方法描述机器人相邻连杆间的转换矩阵，在每个杆件上建立笛卡儿坐标系，确定四个连杆参数，最终求取机器人的运动学正解，根据三角函数方程，求取机器人运动学逆解；介绍雅克比矩阵的定义及性质，根据微分变换，求解一般机器人的雅克比矩阵；利用牛顿-欧拉方法推导了机器人递归运动方程，及用拉格朗日方法进行机器人动力学推导，并进行静力学分析，求取等效力矩和广义力、不同坐标系间静力的变换；最后简单介绍了机器人的控制原则和控制方法（位置控制和柔顺控制等），讨论机器人的运动规划问题。

Introducing the characters, structure, performance, application and development of robot; discussing the mathematical fundamentals, describing the position and attitude of a rigid body with Homogeneous Transformation, obtaining the equivalent rotary angle and rotary axis; describing the transformation matrix between two links with D-H method, setting up the Cartesian coordinate system and obtaining the kinematics. The inverse kinematics is also obtained with triangle functions; introducing the Jacobian of the robot, deducing the Jacobian matrix with differential motion of the robot; deducing the recursive motion equations with Newdon-Oula method and the dynamics with Lagrange method, analyzing the static forces; at last, introducing the basic principles and methods of the robotic control and discussing the motion planning of the robot.