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Introduction to Robotics
Tadej BajdMatjaž MiheljMarko Munih
出版Springer Science & Business Media, 2013-02-26
主題Technology & Engineering / RoboticsTechnology & Engineering / MechanicalTechnology & Engineering / ElectricalTechnology & Engineering / Manufacturing
ISBN94007610159789400761018
URLhttp://books.google.com.hk/books?id=9ahEAAAAQBAJ&hl=&source=gbs_api
EBookSAMPLE
註釋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.