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1、IntroductiontoRoboticsMechanicsandControlThirdEditionJohnJ.CraigPEARSONPrenticeHailPearsonEducationInternationalVicePresidentandEditorialDirector,ECS:MarciaJ.HortonAssociateEditor:AliceDworkinEditorialAssistant:CaroleSnyderVicePresidentandDirectorofProduc
2、tionandManufacturing,ESM:DavidW.RiccardiExecutiveManagingEditor:VinceO'BrienManagingEditor:DavidA.GeorgeProductionEditor:JamesBuckleyDirectorofCreativeServices:PaulBelfantiArtDirector:JayneConteCoverDesigner:BruceKenselaarArtEditor:GregDullesManufacturing
3、Manager:TrudyPisciottiManufacturingBuyer:LisaMcDowellSeniorMarketingManager:HollyStark©2005PearsonEducation,Inc.PEARSONPearsonPrenticeHallPrenticePearsonEducation,Inc.HallUpperSaddleRiver,NJ07458Allrightsreserved.Nopartofthisbookmaybereproduced,inanyformo
4、rbyanymeans,withoutpermissioninwritingfromthepublisher.IfyoupurchasedthisbookwithintheUnitedStatesorCanadayoushouldbeawarethatithasbeenwrongfullyimportedwithouttheapprovalofthePublisherortheAuthor.PearsonPrenticeHall®isatrademarkofPearsonEducation,Inc.Rob
5、oticsToolboxforMATLAB(Release7)courtesyofPeterCorke.Theauthorandpublisherofthisbookhaveusedtheirbesteffortsinpreparingthisbook.Theseeffortsincludethedevelopment,research,andtestingofthetheoriesandprogramstodeterminetheireffective-ness.Theauthorandpublishe
6、rmakenowarrantyofanykind,expressedorimplied,withregardtotheseprogramsorthedocumentationcontainedinthisbook.Theauthorandpublishershallnotbeliableinanyeventforincidentalorconsequentialdamagesinconnectionwith,orarisingoutof,thefurnishing,performance,oruseoft
7、heseprograms.PrintedintheUnitedStatesofAmerica109876543ISBNPearsonEducationLtd.,LondonPearsonEducationAustraliaPty.Ltd.,SydneyPearsonEducationSingapore,Pte.Ltd.PearsonEducationNorthAsiaLtd.,HongKongPearsonEducationCanada,Ltd.,TorontoPearsonEducacióndeMexi
8、co,S.A.deC.V.PearsonEducation—Japan,TokyoPearsonEducationMalaysia,Pte.Ltd.PearsonEducation,Inc.,UpperSaddleRiver,NewJerseyContentsPrefacev1Introduction12Spatialdescriptionsandtransformations193Manipulatorkinematics6
