TAILIEUCHUNG - introductory robotics selig 2011

The distinction between science, engineering and technology is not always clear. Science is the reasoned investigation or study of phenomena, aimed at discovering enduring principles among elements of the phenomenal world by employing formal techniques such as the scientific method.[13] Technologies are not usually exclusively products of science, because they have to satisfy requirements such as utility, usability and safety. | Introductory Robotics J. M. Selig Department of Electrical and Electronic Engineering South Bank Polytechnic Prentice Hall NEW YORK LONDON TORONTO SYDNEY TOKYO SINGAPORE First published 1992 by Prentice Hall International UK Ltd 66 Wood Lane End Hemel Hempstead Hertfordshire HP2 4RG A division of Simon Schuster International Group Prentice Hall International UK Ltd 1992 All rights reserved. No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means electronic mechanical photocopying recording or otherwise without prior permission in writing from the publisher. For permission within the United States of America contact Prentice Hall Inc. Englewood Cliffs NJ 07632. Printed and bound in Great Britain by Dotesios Ltd Trowbridge Wiltshire Library of Congress Cataloging-in-Publication Data Selig J. M. Introductory robotics J. M. Selig p. cm. Includes index. ISBN 0-13-488875-8 pbk. 1. Robotics. I. Title. 1991 92 dc20 91-23704 CIP British Library Cataloguing-in-Publication Data Selig J. M. Introductory robotics. I. Title ISBN 0-13-488875-8 1234 95 94 93 92 Contents Preface vii 1 Introduction 1 What is Robotics 1 Popular Robotics 2 History of the Technology 3 Looking Ahead 4 2 Rigid Transformations 7 Rotations and Translations in 2-D 8 General Rigid Motions in 2-D 10 Centres of Rotation 12 Rotations about the Origin in 3-D 15 General 3-D Rotations 17 General Rigid Motions in 3-D 18 3 Robot Anatomy 23 Links 23 Joints 25 Geometric Design 28 Co-ordinate Frames 31 4 Kinematics 34 The Planar Manipulator 34 The 3-R Wrist 36 Design Parameters 39 A -Matrices for the Puma Robot 40

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