
A Mathematical Introduction to Robotic Manipulation
CRC Press
1st Edition
Published on 22. March 1994
Book
Paperback/Softback
480 pages
978-0-8493-7981-9 (ISBN)
Description
A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework.
The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well.
The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.
The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well.
The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.
More details
Language
English
Place of publication
Bosa Roca
United States
Publishing group
Taylor & Francis Inc
Target group
College/higher education
Professional and scholarly
Undergraduate
Illustrations
30 s/w Photographien bzw. Rasterbilder
30 figs.
Dimensions
Height: 234 mm
Width: 156 mm
Thickness: 26 mm
Weight
720 gr
ISBN-13
978-0-8493-7981-9 (9780849379819)
Schweitzer Classification
Other editions
Additional editions

Richard M. Murray | Zexiang Li | S. Shankar Sastry
A Mathematical Introduction to Robotic Manipulation
E-Book
12/2017
1st Edition
CRC Press
€204.99
Available for download

Richard M. Murray | Zexiang Li | S. Shankar Sastry
A Mathematical Introduction to Robotic Manipulation
E-Book
12/2017
1st Edition
CRC Press
€205.99
Available for download

Richard M. Murray | Zexiang Li | S. Shankar Sastry
A Mathematical Introduction to Robotic Manipulation
Book
07/2017
1st Edition
CRC Press
€289.69
Shipment within 10-20 days
Persons
Zexiang Li, Richard M. Murray, S. Shankar Sastry
Content
1: Introduction; 2: Rigid Body Motion; 3: Manipulator Kinematics; 4: Robot Dynamics and Control; 5: Multifingered Hand Kinematics; 6: Hand Dynamics and Control; 7: Nonholonomic Behavior in Robotic Systems; 8: Nonholonomic Motion Planning; 9: Future Prospects