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.
Additional ISBNs
9781138440166, 9781351469791, 1138440167, 1351469797, 9780849379819, 0849379814
A Mathematical Introduction to Robotic Manipulation Ebook
By: Richard M. Murray
Publisher:
CRC Press
Print ISBN: 9781138440166, 1138440167
eText ISBN: 9781351469784, 1351469789
Edition: 1st
Copyright year: 1994
Format: EPUB
Available from $ 56.00 USD
SKU: 9781351469784R90
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