Introduction to Robotics

  • Tadej Bajd
  • Matjaž Mihelj
  • Marko Munih

Part of the SpringerBriefs in Applied Sciences and Technology book series (BRIEFSAPPLSCIENCES)

Table of contents

  1. Front Matter
    Pages i-vii
  2. Tadej Bajd, Matjaž Mihelj, Marko Munih
    Pages 1-8
  3. Tadej Bajd, Matjaž Mihelj, Marko Munih
    Pages 9-36
  4. Tadej Bajd, Matjaž Mihelj, Marko Munih
    Pages 37-55
  5. Tadej Bajd, Matjaž Mihelj, Marko Munih
    Pages 57-71
  6. Tadej Bajd, Matjaž Mihelj, Marko Munih
    Pages 73-82
  7. Back Matter
    Pages 83-83

About this book

Introduction

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.

Keywords

Basic Robotics Geometrical Robot Industrial Robot Robot Mechanisms Robot Model Rotation Matrix

Authors and affiliations

  • Tadej Bajd
    • 1
  • Matjaž Mihelj
    • 2
  • Marko Munih
    • 3
  1. 1., Faculty of Electrical EngineeringUniversity of LjubljanaLjubljanaSlovenia
  2. 2., Faculty of Electrical EngineeringUniversity of LjubljanaLjubljanaSlovenia
  3. 3., Faculty of Electrical EngineeringUniversity of LjubljanaLjubljanaSlovenia

Bibliographic information

  • DOI https://doi.org/10.1007/978-94-007-6101-8
  • Copyright Information The Author(s) 2013
  • Publisher Name Springer, Dordrecht
  • eBook Packages Engineering
  • Print ISBN 978-94-007-6100-1
  • Online ISBN 978-94-007-6101-8
  • Series Print ISSN 2191-530X
  • Series Online ISSN 2191-5318
  • About this book
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