02035nam 2200493 a 450 991043790360332120200520144314.094-007-6101-510.1007/978-94-007-6101-8(OCoLC)829930230(MiFhGG)GVRL6XCR(CKB)3360000000455776(MiAaPQ)EBC1206402(EXLCZ)99336000000045577620130123d2013 uy 0engurun|---uuuuatxtccrIntroduction to robotics /Tadej Bajd, Matjaz Mihelj, Marko Munih1st ed. 2013.Dordrecht Springer20131 online resource (vii, 83 pages) illustrationsSpringerBriefs in applied sciences and technology,2191-530X"ISSN: 2191-530X."94-007-6100-7 Includes bibliographical references and index.1 Introduction -- 2 Rotation and Orientation -- 3  Pose and Displacement -- 4 Geometric Robot Model -- 5 Geometric Model of Anthropomorphic Robot with Spherical Wrist -- Index.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.SpringerBriefs in applied sciences and technology.RoboticsRobotics.629.892Bajd Tadej1064372Mihelj Matjaz994745Munih Marko1760880MiAaPQMiAaPQMiAaPQBOOK9910437903603321Introduction to robotics4200012UNINA