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This book is focused on geometrical models of robot mechanisms. Rotation and orientation of an object are described by Rodrigues´s formula, rotation matrix and quaternions. Pose and displacement of an object are mathematically dealt with homogenous transformation matrices. The geometrical robot model is based on Denavit Hartenberg parameters. Direct and inverse model of six degrees of freedom anthropomorphic industrial robots are also presented.

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1 Introduction
2 Rotation and Orientation
3 Pose and Displacement
4 Geometric Robot Model
5 Geometric Model of Anthropomorphic Robot with Spherical Wrist
Index

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From the reviews:
"Bajd, Mihelj, and Munih ... provide illustrations of robot movement for a quick understanding of the topic. ... The authors illustrate theory with detailed examples, understandable to beginners in the field and a useful refresher for those better versed in the technology. Overall, it is a succinct primer on robotic kinematics that could serve as a ´CliffsNotes´-type companion to any introductory robotics movement course geared toward developing applied engineering sensibility in learners who are mathematically proficient. Summing Up: Recommended. Lower- and upper-division undergraduates; professionals/practitioners." (G. Trajkovski, Choice, Vol. 51 (2), October, 2013)

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