Introduction to Robotics [electronic resource] / by Tadej Bajd, Matjaʾ Mihelj, Marko Munih.
Tipo de material:
TextoSeries SpringerBriefs in Applied Sciences and Technology | SpringerBriefs in Applied Sciences and TechnologyEditor: Dordrecht : Springer Netherlands : Imprint: Springer, 2013Descripción: VII, 83 p. 42 illus. online resourceTipo de contenido: - text
- computer
- online resource
- 9789400761018
- SpringerLink (Online service)
- 629.892 23
- TJ210.2-211.495
- T59.5
Contenidos:
Springer eBooksResumen: 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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1 Introduction -- 2 Rotation and Orientation -- 3 Pose and Displacement -- 4 Geometric Robot Model -- 5 Geometric Model of Anthropomorphic Robot with Spherical Wrist -- Index.
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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