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Introductory Robotics

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This book grew of a third year optional course taught to electrical engineering students at South Bank Polytechnic.A parallel course on robot dynamics and control was taught by a colleague.For completeness,I have added here my own treatment of robots is,however,a very large subject area,which really reqires a book of its own.Many such texts already exits. | 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 Hernel 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. TJ211.S434 1991 629.8 92 dc20 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 v 1 Introduction 1 1.1 What is Robotics 1 1.2 Popular Robotics 2 1.3 History of the Technology 3 1.4 Looking Ahead 4 2 Rigid Transformations 7 2.1 Rotations and Translations in 2-D 8 2.2 General Rigid Motions in 2-D 10 2.3 Centres of Rotation 12 2.4 Rotations about the Origin in 3-D 15 2.5 General 3-D Rotations 17 2.6 General Rigid Motions in 3-D 18 3 Robot Anatomy 23 3.1 Links 23 3.2 Joints 25 3.3 Geometric Design 28 3.4 Co-ordinate Frames 31 4 Kinematics 34 4.1 The Planar Manipulator 34 4.2 The 3-R Wrist 36 4.3 Design Parameters 39 4.4 A -Matrices for the Puma Robot 40