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Chapter 1 is the introduction of the terminology and history of robotics and discusses the most common robot design and application. //专有名词、历史、设计、应用
Part I consists of 4 chapters dealing with the geometry of rigid motions and the kinematics of manipulators. //刚体运动几何学、机器手运动学
Chapter 2 is the mathematics of rigid motion: rotations, translations, and homogeneous transformations. //刚体运动的数学表示:旋转、移动、齐次变换
Chapter 3 is the manipulators forward kinematics using the Denavi
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