eBook Introduction to Robotics, 1st Edition

  • Published By:
  • ISBN-10: 9400761015
  • ISBN-13: 9789400761018
  • DDC: 629.892
  • Grade Level Range: College Freshman - College Senior
  • 83 Pages | eBook
  • Original Copyright 2013 | Published/Released April 2014
  • This publication's content originally published in print form: 2013
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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.

Table of Contents

Front Cover.
Other Frontmatter.
Title Page.
Copyright Page.
1: Introduction.
2: Rotation and Orientation.
3: Pose and Displacement.
4: Geometric Robot Model.
5: Geometric Model of Anthropomorphic Robot with Spherical Wrist.