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1、IntroductiontoRoboticsMechanicsandControlThirdEditionJohnJ.CraigPEARSONPrenticeHailPearsonEducationInternationalVicePresidentandEditorialDirector,ECS:MarciaJ.HortonAssociateEditor:AliceDworkinEditorialAssistant:CaroleSnyderVicePresidentandDirectorofProductionandManufacturing,ESM:David
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3、arketingManager:HollyStark©2005PearsonEducation,Inc.PEARSONPearsonPrenticeHallPrenticePearsonEducation,Inc.HallUpperSaddleRiver,NJ07458Allrightsreserved.Nopartofthisbookmaybereproduced,inanyformorbyanymeans,withoutpermissioninwritingfromthepublisher.IfyoupurchasedthisbookwithintheUnit
4、edStatesorCanadayoushouldbeawarethatithasbeenwrongfullyimportedwithouttheapprovalofthePublisherortheAuthor.PearsonPrenticeHall®isatrademarkofPearsonEducation,Inc.RoboticsToolboxforMATLAB(Release7)courtesyofPeterCorke.Theauthorandpublisherofthisbookhaveusedtheirbesteffortsinpreparingth
5、isbook.Theseeffortsincludethedevelopment,research,andtestingofthetheoriesandprogramstodeterminetheireffective-ness.Theauthorandpublishermakenowarrantyofanykind,expressedorimplied,withregardtotheseprogramsorthedocumentationcontainedinthisbook.Theauthorandpublishershallnotbeliableinanye
6、ventforincidentalorconsequentialdamagesinconnectionwith,orarisingoutof,thefurnishing,performance,oruseoftheseprograms.PrintedintheUnitedStatesofAmerica109876543ISBNPearsonEducationLtd.,LondonPearsonEducationAustraliaPty.Ltd.,SydneyPearsonEducationSingapore,Pte.Ltd.PearsonEducationNort
7、hAsiaLtd.,HongKongPearsonEducationCanada,Ltd.,TorontoPearsonEducacióndeMexico,S.A.deC.V.PearsonEducation—Japan,TokyoPearsonEducationMalaysia,Pte.Ltd.PearsonEducation,Inc.,UpperSaddleRiver,NewJerseyContentsPrefacev1Introduction12Spatialdescriptionsandtransformations193Manipulatorkinema
8、tics6