Introduction to Robotics

Nonfiction, Science & Nature, Technology, Robotics, Engineering, Mechanical
Cover of the book Introduction to Robotics by Tadej Bajd, Matjaž Mihelj, Marko Munih, Springer Netherlands
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Author: Tadej Bajd, Matjaž Mihelj, Marko Munih ISBN: 9789400761018
Publisher: Springer Netherlands Publication: February 26, 2013
Imprint: Springer Language: English
Author: Tadej Bajd, Matjaž Mihelj, Marko Munih
ISBN: 9789400761018
Publisher: Springer Netherlands
Publication: February 26, 2013
Imprint: Springer
Language: English

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.

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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.

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