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, Heme! 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 wi from the publisher. For permission 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 Pp. cm. Includes index. ISBN 0-13-488875-8 (pbk.) 1. Robotics. _I. Title. TI211.S434 1991 629.8°92—de20 91-23704 cIP British Library Cataloguing-in-Publication Data Selig, J. M. Introductory robotics. I Title 629.8 ISBN 0-13-488875-8 1234 95 94 93 92Contents Preface 1 Introduction 1.1 What is Robotics? 1.2 Popular Robotics 1.3 History of the Technology 1.4 Looking Ahead 2. Rigid Transformations 2.1. Rotations and Translations in 2-D 2.2. General Rigid Motions in 2-D 2.3. Centres of Rotation 2.4 Rotations about the Origin in 3-D 2.5 General 3-D Rotations 2.6 General Rigid Motions in 3-D 3 Robot Anatomy 3.1 Links 3.2 Joints 3.3. Geometric Design 3.4 Co-ordinate Frames 4 Kinematics 4.1 The Planar Manipulator 4.2 The 3-R Wrist 4.3. Design Parameters 4.4 ‘A’- Matrices for the Puma Robot vii RON 10 12 15 \7 18 23 23 25 28 31 34 34 36 39