Mathematical Introduction to Robotic Manipulation

Name: Mathematical Introduction to Robotic Manipulation
Price: 169.18 USD
Availability: InStock
ISBN: 9780849379819

ISBN-10: 0849379814

ISBN-13: 9780849379819

Edition: 1994

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

This item qualifies for FREE shipping.

30 day, 100% satisfaction guarantee!

Buy new: $176.47

Marketplace

2 new & used from $169.18

what's this?

Rush Rewards U
Members Receive:

You have reached 400 XP and carrot coins. That is the daily max!

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…

Book details

Copyright year: 1994
Publisher: CRC Press LLC
Publication date: 3/22/1994
Binding: Hardcover
Pages: 480
Size: 6.34" wide x 9.25" long x 1.26" tall
Weight: 1.892
Language: English



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