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Introduction to Robotics [electronic resource] / by Tadej Bajd, Matjaž Mihelj, Marko Munih.

By: Contributor(s): Material type: TextTextSeries: SpringerBriefs in Applied Sciences and TechnologyPublisher: Dordrecht : Springer Netherlands : Imprint: Springer, 2013Description: VII, 83 p. 42 illus. online resourceContent type:
  • text
Media type:
  • computer
Carrier type:
  • online resource
ISBN:
  • 9789400761018
Subject(s): Additional physical formats: Printed edition:: No titleDDC classification:
  • 629.892 23
LOC classification:
  • TJ210.2-211.495
  • T59.5
Online resources:
Contents:
1 Introduction -- 2 Rotation and Orientation -- 3  Pose and Displacement -- 4 Geometric Robot Model -- 5 Geometric Model of Anthropomorphic Robot with Spherical Wrist -- Index.
In: Springer eBooksSummary: 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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