Skip to main content
SpringerLink
Log in
Book cover

Introduction to Robotics

  • Book
  • © 2013

Overview

Authors:
  1. Tadej Bajd

    1. , Faculty of Electrical Engineering, University of Ljubljana, Ljubljana, Slovenia

    View author publications

    You can also search for this author in PubMed   Google Scholar

  2. Matjaž Mihelj

    1. , Faculty of Electrical Engineering, University of Ljubljana, Ljubljana, Slovenia

    View author publications

    You can also search for this author in PubMed   Google Scholar

  3. Marko Munih

    1. , Faculty of Electrical Engineering, University of Ljubljana, Ljubljana, Slovenia

    View author publications

    You can also search for this author in PubMed   Google Scholar

  • Compact presentation of spatial transformations
  • Numerous original examples
  • Direct and inverse models of real industrial robots
  • Includes supplementary material: sn.pub/extras

Part of the book series: SpringerBriefs in Applied Sciences and Technology (BRIEFSAPPLSCIENCES)

This is a preview of subscription content, log in via an institution to check access.

Access this book

Log in via an institution
eBook USD 39.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Other ways to access

Licence this eBook for your library

Institutional subscriptions

Table of contents (5 chapters)

  1. Front Matter

    Pages i-vii
    Download chapter PDF

  2. Introduction

    • Tadej Bajd, Matjaž Mihelj, Marko Munih
    Pages 1-8

  3. Rotation and Orientation

    • Tadej Bajd, Matjaž Mihelj, Marko Munih
    Pages 9-36

  4. Pose and Displacement

    • Tadej Bajd, Matjaž Mihelj, Marko Munih
    Pages 37-55

  5. Geometric Robot Model

    • Tadej Bajd, Matjaž Mihelj, Marko Munih
    Pages 57-71

  6. Geometric Model of Anthropomorphic Robot with Spherical Wrist

    • Tadej Bajd, Matjaž Mihelj, Marko Munih
    Pages 73-82

  7. Back Matter

    Pages 83-83
    Download chapter PDF
Back to top

Keywords

About this book

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.

Reviews

From the reviews:

“Bajd, Mihelj, and Munih … provide illustrations of robot movement for a quick understanding of the topic. … The authors illustrate theory with detailed examples, understandable to beginners in the field and a useful refresher for those better versed in the technology. Overall, it is a succinct primer on robotic kinematics that could serve as a ‘CliffsNotes’-type companion to any introductory robotics movement course geared toward developing applied engineering sensibility in learners who are mathematically proficient. Summing Up: Recommended. Lower- and upper-division undergraduates; professionals/practitioners.” (G. Trajkovski, Choice, Vol. 51 (2), October, 2013)

Authors and Affiliations

  • , Faculty of Electrical Engineering, University of Ljubljana, Ljubljana, Slovenia

    Tadej Bajd, Matjaž Mihelj, Marko Munih

Bibliographic Information

Publish with us

Policies and ethics

Back to top

Search

Navigation