Abstract
This chapter describes the coordinate systems used in depicting the position and orientation (pose) of the aerial robot and its manipulator arm(s) in relation to itself and its environment.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Bajd T, Mihelj M, Lenarčič J, Stanovnik A, Munih M (2010) Robotics. Intelligent systems, control and automation: science and engineering. Springer, Netherlands
Bottema O, Roth B (2012) Theoretical kinematics. Dover Books on Physics, Dover Publications, New York
Craig JJ (1986) Introduction to robotics: mechanics and control. Addison-Wesley, Reading (Mass.), Don Mills (Ont.), Wokingham, England
Denavit J, Hartenberg RS (1955) A kinematic notation for lower-pair mechanisms based on matrices. Trans ASME E J Appl Mech 22:215–221
Duffy J (1991) Kinematic geometry of mechanisms (k. h. hunt). SIAM Rev 33(4):678–679
Erdman AG, Sandor GN (1997) Mechanism design: analysis and synthesis. Number volume 1 in Prentice Hall international editions series. Prentice-Hall International
Lee D, Burg TC, Dawson DM, Shu D, Xian B, Tatlicioglu E (2009) Robust tracking control of an underactuated quadrotor aerial-robot based on a parametric uncertain model. In: 2009 IEEE international conference on systems, man and cybernetics, pp 3187–3192
Noble B, Daniel JW (1998) Applied linear algebra, 3rd edn. Prentice Hall, Upper Saddle River (Index included)
Schilling RJ (1990) Fundamentals of robotics: analysis and control. Prentice Hall, Englewood Cliffs
Shames IH (2006) Engineering mechanics statics and dynamics. Pearson Education
Siciliano B, Khatib O (2016) Springer handbook of robotics. Springer handbooks. Springer International Publishing
Siciliano B, Sciavicco L, Villani L, Oriolo G (2008) Robotics: modelling, planning and control, 1st edn. Springer Publishing Company, Incorporated
Symon KR (1971) Mechanics. Addison-Wesley world student series. Addison-Wesley Publishing Company
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG
About this chapter
Cite this chapter
Orsag, M., Korpela, C., Oh, P., Bogdan, S. (2018). Coordinate Systems and Transformations. In: Aerial Manipulation. Advances in Industrial Control. Springer, Cham. https://doi.org/10.1007/978-3-319-61022-1_2
Download citation
DOI: https://doi.org/10.1007/978-3-319-61022-1_2
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-61020-7
Online ISBN: 978-3-319-61022-1
eBook Packages: EngineeringEngineering (R0)