Introduction to Robotics

Introduction to Robotics


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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.

Product Details

ISBN-13: 9789400761001
Publisher: Springer Netherlands
Publication date: 02/26/2013
Series: SpringerBriefs in Applied Sciences and Technology
Edition description: 2013
Pages: 83
Product dimensions: 6.10(w) x 9.25(h) x 0.01(d)

Table of Contents

1 Introduction

2 Rotation and Orientation

3 Pose and Displacement

4 Geometric Robot Model

5 Geometric Model of Anthropomorphic Robot with Spherical Wrist


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