Abstract
First and foremost, the study of motions undergone by robotic mechanical systems or, for that matter, by mechanical systems at large, requires a suitable motion representation. Now, the motion of mechanical systems involves the motion of the particular links comprising those systems, which in this book are supposed to be rigid. The assumption of rigidity, although limited in scope, still covers a wide spectrum of applications, while providing insight into the motion of more complicated systems, such as those involving deformable bodies.
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© 2007 Springer Science+Business Media, LLC
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(2007). Mathematical Background. In: Fundamentals of Robotic Mechanical Systems. Mechanical Engineering Series. Springer, Boston, MA. https://doi.org/10.1007/978-0-387-34580-2_2
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DOI: https://doi.org/10.1007/978-0-387-34580-2_2
Publisher Name: Springer, Boston, MA
Print ISBN: 978-0-387-29412-4
Online ISBN: 978-0-387-34580-2
eBook Packages: EngineeringEngineering (R0)