A Mathematical Introduction to Robotic Manipulation
1st Edition
Published on 14. December 2017
519 pages
978-1-351-46979-1 (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
Edition
1. Auflage
Language
English
Place of publication
London
United Kingdom
Publishing group
Taylor & Francis Ltd
Target group
College/higher education
File size
53,55 MB
ISBN-13
978-1-351-46979-1 (9781351469791)
Copyright in bibliographic data and cover images is held by Nielsen Book Services Limited or by the publishers or by their respective licensors: all rights reserved.
Schweitzer Classification
Other editions
Additional editions
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
Richard M. Murray | Zexiang Li | Shankar Sastry
A Mathematical Introduction to Robotic Manipulation
Book
03/1994
1st Edition
CRC Press
€208.80
Shipment within 15-20 days
Persons
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
