A Mathematical Introduction to Robotic Manipulation
eBook - ePub

A Mathematical Introduction to Robotic Manipulation

Richard M. Murray, Zexiang Li, S. Shankar Sastry

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  1. 503 pages
  2. English
  3. ePUB (mobile friendly)
  4. Available on iOS & Android
eBook - ePub

A Mathematical Introduction to Robotic Manipulation

Richard M. Murray, Zexiang Li, S. Shankar Sastry

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About This Book

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.

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Information

Publisher
CRC Press
Year
2017
ISBN
9781351469784
Edition
1
Topic
Technology & Engineering
Subtopic
Electrical Engineering & Telecommunications
Index
Technology & Engineering

Table of contents