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Introduction to Robotics

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...

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Bibliographic Details
Main Authors: Bajd, Tadej. (Author), Mihelj, Matja~. (Author), Munih, Marko. (Author)
Corporate Author: SpringerLink (Online service)
Format: Electronic
Language:English
Published: Dordrecht : Springer Netherlands : Imprint: Springer, 2013.
Series:SpringerBriefs in Applied Sciences and Technology,
Subjects:
Engineering.
Mechanical engineering.
Computer engineering.
Robotics and Automation.
Mechanical Engineering.
Electrical Engineering.
Online Access:https://ezaccess.library.uitm.edu.my/login?url=http://dx.doi.org/10.1007/978-94-007-6101-8
Description
Summary: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.
Physical Description:VII, 83 p. 42 illus. online resource.
ISBN:9789400761018
ISSN:2191-530X

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