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Engineering - Robotics | Introduction to Robotics

Introduction to Robotics

Bajd, Tadej, Mihelj, Matjaž, Munih, Marko

2013, VII, 83 p. 42 illus.

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  • Compact presentation of spatial transformations
  • Numerous original examples
  • Direct and inverse models of real industrial robots
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.

Content Level » Research

Keywords » Basic Robotics - Geometrical Robot - Industrial Robot - Robot Mechanisms - Robot Model - Rotation Matrix

Related subjects » Electronics & Electrical Engineering - Mechanical Engineering - Robotics

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