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 lowcost, massproduced, sensorcontrolled 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 machinelinked 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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ass't inverse kinematics
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http://books.google.com/books?id=UzZ3LAYqvRkC&printsec=frontcover
Contents
9  
KINEMATIC EQUATIONS  41 
SOLVING KINEMATIC EQUATIONS  65 
DIFFERENTIAL RELATIONSHIPS  85 
MOTION TRAJECTORIES  119 
DYNAMICS  157 
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Common terms and phrases
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 ZT6E
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Page 11  Ax) where i, j and k are unit vectors along the X, Y and Z axes, respectively.
Page 1  The generalpurpose manipulator may be used for moving objects, moving levers or knobs, assembling parts, and manipulating wrenches. In all these operations, the manipulator must come into physical contact with the object before the desired force and movement can be made on it. A collision occurs when the manipulator makes this contact. Generalpurpose manipulation consists essentially of a series of collisions with unwanted forces, the application of wanted forces, and the application of desired...
Page 3  This work was important for two reasons: it demonstrated that objects could be identified and located in a digitized halftone image, and it introduced homogeneous transformations as a suitable data structure for the description of the relative position and orientation between objects. If the relative position and orientation between objects is represented by homogeneous transformations, the operation of matrix multiplication of homogeneous transformations can establish the overall relationship between...
Page 2  The part would appear in a precise position, defined with respect to the robot; it would be grasped, moved out of the die, and dropped on a conveyor. The success of the industrial robot, like the NC milling machine, relied on precise, repeatable digital servo loops.
Page 3  In this puzzle, four cubes with differentcolored faces must be stacked so that no two similar colors appear on any side. At MIT a block structure could be observed and copied. In Japan, research led to a handeye system which could assemble block structures when presented with an assembly drawing.