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.
Tabela de Conteúdo
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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Língua Inglês ● Formato PDF ● Páginas 83 ● ISBN 9789400761018 ● Tamanho do arquivo 1.7 MB ● Editora Springer Netherland ● Cidade Dordrecht ● País NL ● Publicado 2013 ● Carregável 24 meses ● Moeda EUR ● ID 2685635 ● Proteção contra cópia DRM social