求助！请高手帮翻译机电专业的英语文章【1】

本人正在做毕业设计。因为本人的英语水平实在不是很好，无奈之下，只好恳请各位高手帮翻译一篇英文文章（并非全文）。翻译好后我将我的所有积分都送给他（她），虽然不是很多。文中[ ]内的数字是原文的参考文献。（不要照搬“在线翻译”的！！！）Abstract: This paper presents an affordable and comprehensive robotic model of critical aid to any engineering school involved in teaching robotics. We present the stages of designing a three-link robot manipulator prototype that was built as part of a research project for establishing a prototyping environment for robot manipulators. Building this robot helped to determine the required subsystems and interfaces for building the prototyping environment, and provided hands-on experience for real problems and difficulties that are addressed and solved using this environment. The robot is now successfully used as an educational tool in robotics and control classes. 1. Introduction Teaching robotics in most engineering schools lacks practicality. Usually students spend most of the time studying the theoretical background and the mathematics, and possibly writing some simulation programs. In many cases, they do not get the chance to apply and practice what they have learned using real robots. This is due to the fact that most of the robots available in the market are either too advanced, complicated, and expensive (e.g., specialized industrial robots), or toy-like robots which are trivial and do not give the required level of depth or functionality needed to demonstrate the main concepts of robot design and control. One of our goals in this project, was to build a robot that is inexpensive, flexible, easy to use and connect to any workstation or PC, and at the same time is capable of demonstrating some of the design and control concepts. We also tried to keep the cost as low as possible, thus making it available to any engineering school or industrial organization. While a great part of the theoretical concepts or practical approaches considered in the design stages of the presented manipulator are nowadays well known and even obsolete, they define the skeleton of any proficient robotics teaching environment.We consider the main contribution of this work is building Utah robot kit (URK), which is a three-link robot prototype that has a small size and reasonable weight, which is convenient for a small lab or a class room. URK can be connected to any workstation or PC through the standard serial port with an RS232 cable, and can be controlled using a software controller with a graphical user interface. This software applies a simple proportional integral derivative (PID) control law for each link which does not require knowledge of the robot parameters. It can also be used on any electro-mechanical system that can be controlled by a physical PID controller. The interface enables the user to change any of the control parameters and to monitor the behavior of the system with on-line graphs and a 3-D view of the robot showing the current position of the robot.续下一部分……