Introduction to Robotics [electronic resource] / by Tadej Bajd, Matjaž Mihelj, Marko Munih.Material type: TextLanguage: English Series: SpringerBriefs in Applied Sciences and Technology: Publisher: Dordrecht : Springer Netherlands : Imprint: Springer, 2013Description: VII, 83 p. 42 illus. online resourceContent type: text Media type: computer Carrier type: online resourceISBN: 9789400761018Subject(s): Engineering | Mechanical engineering | Computer engineering | Engineering | Robotics and Automation | Mechanical Engineering | Electrical EngineeringAdditional physical formats: Printed edition:: No titleDDC classification: 629.892 LOC classification: TJ210.2-211.495T59.5Online resources: Click here to access online
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.