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.
€53.49
表中的内容
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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语言 英语 ● 格式 PDF ● 网页 83 ● ISBN 9789400761018 ● 文件大小 1.7 MB ● 出版者 Springer Netherland ● 市 Dordrecht ● 国家 NL ● 发布时间 2013 ● 下载 24 个月 ● 货币 EUR ● ID 2685635 ● 复制保护 社会DRM
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