机器人学导论(英) 第一讲.pdfVIP

Introduction to Robotics (机器人学导论) School of Electrical Engineering and Automation Tianjin University Fall Semester, 2010 Syllabus • Time: Monday Night (Room 115, Section A,Building No. 26) Week 1st to Week 8th • Instructor: Dr. Xian, Bin (鲜斌） • Office: Room 525, Section E, Building No.26 • Office Hours: 3:00 pm to 5:00 pm, Wednesday • E-mail : xbin@tju.edu.cn Syllabus • Text Book and Reference Books 1. John J. Craig, Introduction to Robotics: Mechanics And Control, Third Edition, Pearson Education, 2005. 约翰J. 克拉格，机器人学导论，机械工业出版社，2006. ￥49 $73 Syllabus 2. Saeed B. Niku, 机器人学导论－分析、系统及应用，孙富春等 翻译，电子工业出版社，2004. Syllabus 3. Mark W. Spong, M. Vidyasagar, Robotics and Control, John Wiley Sons, 2004. • Grading: Homework 20% Final exam 80% Syllabus • Course Outline 1. Background and Introduction 2. Rigid Motion and Homogeneous Transformation 3. Forward Manipulator Kinematics 4. Inverse Manipulator Kinematics 5. Velocity Kinematics 6. Manipulator Dynamics 7. Control of Manipulators Chapter 1   Introduction Hollywood’s Robots R2-D2 T800 Ch1.1 Background 1. What is a robot? By general agreement, a robot is: A programmable machine that imitates the actions or appearance of an intelligent creature–usually a human. A robot (industrial robot) is a reprogrammable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices, through variable programmed moti