Introduction to Robotics
| By: | Tadej Bajd; Matjaž Mihelj; Marko Munih |
| Publisher: | Springer Nature |
| Print ISBN: | 9789400761001 |
| eText ISBN: | 9789400761018 |
| Edition: | 0 |
| Copyright: | 2013 |
| Format: | Reflowable |
Lifetime - $65.99
eBook Features
Instant Access
Purchase and read your book immediately
Read Offline
Access your eTextbook anytime and anywhere
Study Tools
Built-in study tools like highlights and more
Read Aloud
Listen and follow along as Bookshelf reads to you
Details
Table of Contents
This book is focused on geometrical models of robot mechanisms. Rotation and orientation of an object are described by Rodrigues's formula, rotation matrix and quaternions. Pose and displacement of an object are mathematically dealt with homogenous transformation matrices. The geometrical robot model is based on Denavit Hartenberg parameters. Direct and inverse model of six degrees of freedom anthropomorphic industrial robots are also presented.