版权所有:内蒙古大学图书馆 技术提供:维普资讯• 智图
内蒙古自治区呼和浩特市赛罕区大学西街235号 邮编: 010021
丛 书 名:SpringerBriefs in Applied Sciences and Technology
版本说明:2013
I S B N:(纸本) 9789400761001
出 版 社:Springer Netherlands
出 版 年:2013年
页 数:86页
学科分类:080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
摘 要: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.