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A Mathematical Introduction to Robotic Manipulation - Richard M. Murray

A Mathematical Introduction to Robotic Manipulation

Paperback Published: 1st March 1994
ISBN: 9780849379819
Number Of Pages: 480

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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
Introductionp. 1
Rigid Body Motionp. 19
Manipulator Kinematicsp. 81
Robot Dynamics and Controlp. 155
Multifingered Hand Kinematicsp. 211
Hand Dynamics and Controlp. 265
Nonholonomic Behavior in Robotic Systemsp. 317
Nonholonomic Motion Planningp. 355
Future Prospectsp. 395
Appendix A Lie Groups and Robot Kinematicsp. 403
Appendix B A Mathematica Package for Screw Calculusp. 435
Bibliographyp. 441
Indexp. 449
Table of Contents provided by Blackwell. All Rights Reserved.

ISBN: 9780849379819
ISBN-10: 0849379814
Audience: Professional
Format: Paperback
Language: English
Number Of Pages: 480
Published: 1st March 1994
Publisher: Taylor & Francis Inc
Country of Publication: US
Dimensions (cm): 24.77 x 17.15  x 3.18
Weight (kg): 0.75
Edition Number: 1

Earn 568 Qantas Points
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