A Mathematical Introduction to Robotic Manipulation by Zexiang Li

A Mathematical Introduction to Robotic Manipulation by Zexiang Li

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.

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

SKU	Unavailable
ISBN 13	9780849379819
ISBN 10	0849379814
Title	A Mathematical Introduction to Robotic Manipulation
Author	Zexiang Li
Condition	Unavailable
Binding Type	Paperback
Publisher	Taylor & Francis Inc
Year published	1994-03-24
Number of pages	480
Cover note	Book picture is for illustrative purposes only, actual binding, cover or edition may vary.
Note	Unavailable