Introduction to Robotics

丛 书 名：SpringerBriefs in Applied Sciences and Technology

版本说明：2013

作     者：Tadej Bajd Matjaž Mihelj Marko Munih 

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.