Introduction to Robotics
By: by Tadej Bajd, Matjaž Mihelj, Marko Munih
Contributors: Mihelj, Matjaž; Munih, Marko; SpringerLink (Online service)
Series: SpringerBriefs in Applied Sciences and Technology
Publisher: Springer Netherlands; Imprint: Springer
Published: 2013
Place of publication: Dordrecht
Language: eng
Format: [electronic resource] /
Number of pages: 87
ISBN-13: 9789400761018
Subjects: Electrical engineering; Engineering; Mechanical engineering; Computer engineering; Robotics and Automation
Description: 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.
Table of contents: title: 1 Introduction; title: 2 Rotation and Orientation; title: 3  Pose and Displacement; title: 4 Geometric Robot Model; title: 5 Geometric Model of Anthropomorphic Robot with Spherical Wrist; title: Index.