Abstract
The geometric description of the robot mechanism is based on the usage of translational and rotational homogenous transformation matrices. A coordinate frame is attached to the robot base and to each segment of the mechanism, as shown in Fig. 3.1. Then, the corresponding transformation matrices between the consecutive frames are determined. A vector expressed in one of the frames can be transformed into another frame by successive multiplication of intermediate transformation matrices.
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Mihelj, M. et al. (2019). Geometric Description of the Robot Mechanism. In: Robotics. Springer, Cham. https://doi.org/10.1007/978-3-319-72911-4_3
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DOI: https://doi.org/10.1007/978-3-319-72911-4_3
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Publisher Name: Springer, Cham
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Online ISBN: 978-3-319-72911-4
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