Inverse kinematics tutorial

Inverse Kinematics tutorial：http://www.coppeliarobotics.com/helpFiles/en/inverseKinematicsTutorial.htm

線上英英翻譯：https://www.merriam-webster.com/

因為正文翻譯案段落逐字逐句翻譯，篇幅太長造成動態網頁編輯時經常出錯，遂直接以pdf檔上船全文翻譯。

./../downloads/Inverse kinematics tuturial.pdf

正文翻譯：

Inverse kinematics tuturial
反向(Inverse)運動學(Kinematics)手把手教學(tutorial)

This tutorial will try to explain how to use the inverse kinematics functionality, while building a 7 DoF redundant manipulator.
本文章嘗試去解釋如何在建立一個七自由度冗餘機械手臂操作(7 DoF redundant manipulator)時，使用反向運度學功能(inverse kinematics functionlity)。

But before that, make sure to have a look at the various simple example scenes related to IK and FK in folder scenes.
但是在那之前，先確定(make sure)了解幾個各式各樣簡單的範例，當中和結合(folded：摺疊、合體的)狀況下 IK 和 FK 之間的關聯性。

For this tutorial,we will build a non-dynamic manipulator, that just uses inverse kinematics without using any physics engine functionality
手把手教學中我們會建立一個沒有物理引擎功能的反向運動機構，進行非動態(non-dynamic)的操作。

The V-REP CAD data related to this tutorial ("redundantManipulator.stl") is located in V-REP's installation folder's "cadFiles" folder.
本教學在 V-REP CAD 使用的檔案為"redundantManipulator.stl"位於 V-REP 安裝資料夾" cadFiles"

A V-REP scene related to this tutorial can be found in V-REP's installation folder's "tutorials\InverseKinematics" folder.
本教學可以在 V-REP 安裝資料夾 "tutorials\InverseKinematics"。

Click [Menu bar --> File --> Import --> Mesh...] then select the file to import. Also refer to the section on how to import/export shapes.
[Menu bar --> File --> Import --> Mesh...]選擇檔案並按上述步驟進行檔案匯入，再者可以參考(refer)import/export shapes。

A dialog pops open asking about mesh scaling and mesh orientation. Click Ok. A single simple shape was imported and is located in the middle of the scene. The shape also appears in the scene hierarchy on the left hand side of the main window. 
彈出的對話視窗會詢問關於網格縮放(scaling)和網格取向(orientation)，點選"OK"後， 圖示 simple shape 會出現在主操作畫面左側的 scene hierarchy (hierarchy：等級制度)中，模型也會匯入主操作視窗中間的位置。

Depending on how the original CAD data was exported, the imported CAD data could be at a different scale, different location, or even subdivided into several shapes.The assigned color of imported shapes is random.
根據(Depending)原始輸出的建模參數，匯入的模型會出現不一樣的比例、位置、更甚至是細化(subdivide)的部分造型。顏色的分配是隨機的。

Following figure shows the imported shape:
根據數字呈現匯入的幾何造型：

As you can see, the import operation has left us with a single shape, where we expected several shapes.
正如所示，匯入操作在工作室窗裡留下我們想要的幾種造型

This means that we will have to divide the manipulator object ourselves: select the object (just click on it in the scene or the scene hierarchy), then click [Menu bar --> Edit --> Grouping/Merging --> Divide selected shapes]. Following is what you should have:
這意謂著我們必須自行去設置機械手的動作特徵：選擇object(僅需再工作視窗中點選、或是在工作視窗的 scene hierarchy 點選)，並且依序 [Menu bar --> Edit --> Grouping/Merging --> Divide selected shapes]。以下是應該有的：

The original shape was divided into several sub-shapes (see also the scene hierarchy). The shape division algorithm operates by grouping all triangles that are linked by common edges.
原始的造型被設置成幾個分型 (也可以在 scene hierarchy )。模型部分的演算(algorithm)操作是由群組三角形邊緣相接合的組立而成。

Depending on how the original mesh was created or exported, such a division procedure cannot be performed. In that case you will have to manually extract shapes in the triangle edit mode. 
根據原始造型被創建或導出的網格，不能執行這樣的畫分程序。在這種情況下，你必須在 triangle edit mode 下手動提取形狀。

Next, we will change colors of the various objects so as to have a nice visual appearance.
接下來我們將會改變各部件的顏色，以便有一個很好的視覺外觀。

First double-click a shape icon in the scene hierarchy. The shape properties dialog opens. While a shape is selected, click on Adjust outside color in the dialog: this will allow you to adjust the various color components of the outside faces of the selected shape.For now, just adjust the ambient/diffuse color component of your shapes.
首先雙擊在 scene hierarchy 形狀圖標。形狀對話視窗彈出。選擇形狀時，單及對話視窗 Adjust outside color ：這將允許您調整所選形狀外部面的各種顏色分量，現在，只需調整形狀的環境/漫反射顏色分量即可。

To transfer the color of one shape to another shape, select both shapes and make sure the last selected shape (indicated with a white bounding box) is the one you want to take the color from, then simply click the Apply to selection button in the Colors section of the shape dialog. Feel free to adjust other visual parameters too, like the Shading angle parameter, the Edges width or the Edges color.
要將一個形狀的顏色轉換無另一個形狀，請選擇兩個形狀並確保最後選擇的形狀(用白色邊框表示) 是您要從中獲取顏色的形狀，然後只需單擊“應用於”中的“應用於選擇”按鈕。形狀對話框的顏色部分。您也可以隨意調整其他視覺參數，例如“著色角度”參數，“邊緣”寬度或“邊緣”顏色。

Once you finished coloring, you might have following situation:

完成著色後，您可能會遇到以下情況：

：Opposite in order , nature , or ettect bing on inverse function