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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Jadual kandungan
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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Bahasa Inggeris ● Format PDF ● Halaman-halaman 83 ● ISBN 9789400761018 ● Saiz fail 1.7 MB ● Penerbit Springer Netherland ● Bandar raya Dordrecht ● Negara NL ● Diterbitkan 2013 ● Muat turun 24 bulan ● Mata wang EUR ● ID 2685635 ● Salin perlindungan Social DRM
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