Pose and Displacement
The homogenous transformation matrix describes either the pose (position and orientation) or displacement (translation and orientation) of an object. The displacement can be performed either with respect to a reference (fixed) coordinate frame or with res
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Tadej Bajd Matjazˇ Mihelj Marko Munih •
Introduction to Robotics
123
Tadej Bajd Matjazˇ Mihelj Marko Munih Faculty of Electrical Engineering University of Ljubljana Ljubljana Slovenia
ISSN 2191-530X ISBN 978-94-007-6100-1 DOI 10.1007/978-94-007-6101-8
ISSN 2191-5318 (electronic) ISBN 978-94-007-6101-8 (eBook)
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Foreword
Throughout history automatic machines and robots have always attracted human imagination, however, robots as they are defined today have been around only for about 50 years. The science of robotics is still growing as a conglomerate of different disciplines covering mechanical and electrical engineering, computer science, mechanics and mathematics, physiology and neuroscience. This multidisciplinarity has created synergy for entirely new world of problems and original discoveries that distinguish robotics from any other scientific field and open unimaginable perspectives for the future. Few decades ago, industrial robots were introduced into factories for automating welding, spraying, material handling, and part assembly. By
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