Abstract
In forward robot modeling we calculate the pose (position and orientation) of the gripper from the known joint variables. The inverse geometric robot model represents calculation of joint displacements from the known pose of the robot gripper. Forward and inverse geometric model of a six degrees of freedom industrial robot are presented in this chapter.
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References
Lenarčič, J., Bajd, T., & Stanišić, M. (2012). Robot mechanisms. Springer.
Siciliano, B., Sciavico, L., Villani, L., & Oriolo, G. (2009). Robotics—Modelling. Planning and Control: Springer.
Craig, J. J. (2005). Introduction to Robotics—Mechanics and Control. Upper Saddle River: Pearson Prentice Hall.
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Bajd, T., Mihelj, M., Munih, M. (2013). Geometric Model of Anthropomorphic Robot with Spherical Wrist. In: Introduction to Robotics. SpringerBriefs in Applied Sciences and Technology. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-6101-8_5
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DOI: https://doi.org/10.1007/978-94-007-6101-8_5
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Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-007-6100-1
Online ISBN: 978-94-007-6101-8
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