Mathematical Introduction to Robotic Manipulation

ISBN-10: 0849379814
ISBN-13: 9780849379819
Edition: 1994
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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  More...

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Book details

Copyright year: 1994
Publisher: CRC Press LLC
Publication date: 3/22/1994
Binding: Paperback
Pages: 480
Size: 6.75" wide x 9.75" long x 1.25" tall
Weight: 1.892
Language: English

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.

Contents
Preface
Acknowledgements
Introduction
Rigid Body Motion
Manipulator Kinematics
Robot Dynamics and Control
Multifingered Hand Kinematics
Hand Dynamics and Control
Nonholonomic Behavior in Robotic Systems
Nonholonomic Motion Planning
Future Prospects
Appendix A Lie Groups and Robot Kinematics
Appendix B A Mathematica Package for Screw Calculus
Bibliography
Index

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