## Robot manipulators: mathematics, programming, and control : the computer control of robot manipulators"Richard Paul is perhaps the world's leading authority on the science of robot manipulation. He has contributed to almost every aspect of the field. His impressive publication record includes important articles on the kinematics of robot arms, their dynamics, and their control. He has developed a succession of interesting ideas concerning representation, specifically the use of homogeneous matrices.... Paul's book is written in his usual clear style, and it contains numerous interesting examples." -Patrick H. Winston and Mike Brady, editors, The MIT Press Artificial Intelligence Series Robot Manipulatorsis firmly grounded on the theoretical principles of the subject and makes considerable use of vector and matrix methods in its development. It is the first full treatment to be published, and it is designed for graduate courses in robotics as well as for practicing engineers. Following an introduction, the book's ten chapters cover homogeneous transformations, defining transformation equations, solving transformation equations, differential transformation relationships, motion trajectories, dynamics, digital servo systems, force transformations, compliance, and manipulation languages. Paul writes that the impact of robot manipulators on the workplace and the economy over the coming decade could be profound: "While currently available industrial robots will probably not have a major impact on manufacturing, a low-cost, mass-produced, sensor-controlled robot could have a revolutionary effect.... Such robots would represent the conclusion of the industrial revolution, replacing the type of labor required at its outset to perform the repetitive machine-linked tasks whose ideal performance is characterized by our conception of a robot, not a human. Based on current research work, laboratory demonstrations, and the general level of technology in this country, we believe that it is possible to achieve such a robot within the coming decade." |

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acceleration angle Artificial Intelligence Artificial Intelligence Laboratory atan2 axes axis base coordinates begin servo Cartesian motion Chapter column compliance component conveyor coor COORD coordinate frame coordinate system Coriolis forces corresponding cos0 Coulomb friction data structure defined degrees of freedom described differential change differential coordinate transformation differential rotation differential translation dinate direction dynamics equations effective inertia end effector error Euler angles evaluate example force function given by Equation gravity loading hole homogeneous transformations industrial robot inverse Jacobian joint coordinates kekm Kinematic Lagrangian mechanics manipulator moves mass matrix object path segment position and orientation premultiplying prismatic joint revolute joint Rot(y Rot(z set point Shimano shown in Figure sin0 solution solve specified Stanford Artificial Stanford manipulator tacc task tion TOOL trajectory trans transcendental function transform equation transform expression transform graph translation and rotation transpointer variable velocity zero