Fundamentals of Robotic Mechanical Systems Theory, Methods, and Algorithms fulltext-1精品.pdf

Chapter 1 A n Overview of Roboti c Mechanica l System s 1.1 Introductio n In defining th e scope of our subject , we have t o establish th e genealogy of robotic mechanical systems . These are , obviously, a subclass of th e much broader class of mechanical systems. Mechanical systems , in turn , constitute a subset of th e more general concept of dynamic systems. In th e end, we must have an idea of what , in general, a system is . The Concise Oxford Dictionary defines system as a complex whole, set of connected things or parts , organized body of material or immaterial things, whereas th e Random House College Dictionary defines th e same as an assem- blage or combination of things or part s forming a complex or unitary whole. Le Petit Robert, in turn , defines system as Ensemble possedant une structure, constituant un tout organique, which can be loosely translated as A struc - tured assemblage constituting an organic whole. In th e foregoing definitions, we note that th e underlying idea is that of a set of elements interacting as a whole . On th e other hand , a dynamic system is a subset of th e set of systems . For our purposes , we can dispense with a rigorous definition of thi s concept . Suffice it to say that , t o qualify as dynamic, a system should b e endowed with thre e elements, namely, a state, an input, and an output, in addition to a rule of tran- sition from one current stat e to a future one . Moreover, th e