Mathematical Introduction to Robotic Manipulation.

Format:

Book

Author/Creator:

Murray, Richard M.

Language:

English

Subjects (All):

Robotics.

Physical Description:

1 online resource (456 pages) : illustrations

Place of Publication:

CRC Press, 2017.

Summary:

Annotation 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:

Chapter 1 Introduction / Richard M. Murray

chapter 2 Rigid Body Motion / Richard M. Murray

chapter 3 Manipulator Kinematics / Richard M. Murray

chapter 4 Robot Dynamics and Control / Richard M. Murray

chapter 5 Multifingered Hand Kinematics / Richard M. Murray

chapter 6 Hand Dynamics and Control / Richard M. Murray

chapter 7 Nonholonomic Behavior in Robotic Systems / Richard M. Murray

chapter 8 Nonholonomic Motion Planning / Richard M. Murray

chapter 9 Future Prospects / Richard M. Murray.

Notes:

Includes bibliographical references and index.

Description based on print version record.

ISBN:

1-351-46977-0

1-315-13637-6

1-351-46979-7

9781315136370

OCLC:

1016975241