A Mathematical Introduction to Robotic Manipulation

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

Overview

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.

Product Details

ISBN-13:	9781351469784
Publisher:	CRC Press
Publication date:	12/14/2017
Sold by:	Barnes & Noble
Format:	eBook
Pages:	519
File size:	12 MB
Note:	This product may take a few minutes to download.

About the Author

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

Table of Contents

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