Robotics pp 23-32 | Cite as

Geometric description of the robot mechanism

  • Tadej Bajd
  • Matjaž Mihelj
  • Jadran Lenarčič
  • Aleš Stanovnik
  • Marko Munih
Chapter
Part of the Intelligent Systems, Control and Automation: Science and Engineering book series (ISCA, volume 43)

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 Figure 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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Copyright information

© Springer Science+Business Media B.V. 2010

Authors and Affiliations

  • Tadej Bajd
    • 1
  • Matjaž Mihelj
    • 1
  • Jadran Lenarčič
    • 2
  • Aleš Stanovnik
    • 1
  • Marko Munih
    • 1
  1. 1.Fac. Electrical EngineeringUniversity of LjubljanaLjubljanaSlovenia
  2. 2.Inst. J. StefanUniversity of LjubljanaLjubljanaSlovenia

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