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Introduction to Robotics - SpringerBriefs in Applied Sciences and Technology Tadej Bajd 2013 edition
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Introduction to Robotics - SpringerBriefs in Applied Sciences and Technology
Tadej Bajd
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. 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.
83 pages, 42 black & white illustrations, biography
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