Introduction to Robotics

• Main Authors: Bajd, Tadej (Author), Mihelj, Matjaž (Author), Munih, Marko (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Dordrecht : Springer Netherlands : Imprint: Springer, 2013.
• Series: SpringerBriefs in Applied Sciences and Technology,
• Subjects: Engineering.; Mechanical engineering.; Robotics.; Automation.; Electrical engineering.; Robotics and Automation.; Mechanical Engineering.; Electrical Engineering.

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...

Table of Contents:

• 1 Introduction
• 2 Rotation and Orientation
• 3  Pose and Displacement
• 4 Geometric Robot Model
• 5 Geometric Model of Anthropomorphic Robot with Spherical Wrist
• Index.