This book presents the fundamentals of geometric modeling and robot kinematics, focusing on the description of the motion, position, and orientation of objects in space. It introduces methods for representing rotation and orientation, such as Rodrigues' formula, rotation matrices, and quaternions. Concepts regarding object pose and displacement are modeled using homogeneous transformation matrices. The book details the geometric modeling of robots based on Denavit–Hartenberg parameters—a key method in robot analysis and programming. Additionally, it covers the forward and inverse kinematics of six-degree-of-freedom industrial robots, providing a mathematical foundation for robotics research and applications.

Ngôn ngữ:	eng
Tác giả:	Bajd, Tadej, Mihelj, Matjaž, Munih, Marko
Thông tin nhan đề:	Introduction to Robotics
Nhà xuất bản:	Springer
Loại hình:	Giáo trình sách, tham khảo / Bộ sưu tập: Cơ khí
Mô tả vật lý:	83p.
Năm xuất bản:	2013