Title: Introduction to Robotics (SpringerBriefs in Applied Sciences and Technology)
Publisher: Springer
Publication Date: 2013
Language: English
ISBN 10: 9400761007
ISBN 13: 9789400761001
Binding: Soft cover
Condition: New

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Synopsis

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.

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