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Record Nr. |
UNINA9910437903603321 |
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Autore |
Bajd Tadej |
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Titolo |
Introduction to robotics / / Tadej Bajd, Matjaz Mihelj, Marko Munih |
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Pubbl/distr/stampa |
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Dordrecht, Netherlands : , : Springer, , 2013 |
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ISBN |
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Edizione |
[1st ed. 2013.] |
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Descrizione fisica |
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1 online resource (vii, 83 pages) : illustrations |
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Collana |
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SpringerBriefs in Applied Sciences and Technology, , 2191-530X |
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Disciplina |
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Soggetti |
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Lingua di pubblicazione |
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Formato |
Materiale a stampa |
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Livello bibliografico |
Monografia |
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Note generali |
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Nota di bibliografia |
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Includes bibliographical references and index. |
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Nota di contenuto |
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1 Introduction -- 2 Rotation and Orientation -- 3 Pose and Displacement -- 4 Geometric Robot Model -- 5 Geometric Model of Anthropomorphic Robot with Spherical Wrist -- Index. |
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Sommario/riassunto |
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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. |
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