A Mathematical Introduction to Robotic Manipulation

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

Informasi Dasar

42 kali
23.21.2610
629.892
Buku - Elektronik (E-Book)
13b

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.

Subjek

ROBOTICS
 

Katalog

A Mathematical Introduction to Robotic Manipulation
9780849379819
474p.: pdf file.; 3 MB
English

Sirkulasi

Rp. 0
Rp. 0
Tidak

Pengarang

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

Penerbit

CRC Press
Boca Raton
1994

Koleksi

Kompetensi

 

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