# A Mathematical Introduction to Robotic Manipulation

## Richard M. Murray; S. Shankar Sastry; S. Shankara Sastry; Zexiang Li

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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.

Le informazioni nella sezione "Riassunto" possono far riferimento a edizioni diverse di questo titolo.

Contenuti:

INTRODUCTION:
Brief History.
Multifingered Hands and Dextrous Manipulation.
Outline of the Book.
Bibliography.
RIGID BODY MOTION:
Rigid Body Transformations.
Rotational Motion in R3.
Rigid Motion in R3.
Velocity of a Rigid Body.
Wrenches and Reciprocal Screws.
MANIPULATOR KINEMATICS:
Introduction.
Forward Kinematics.
Inverse Kinematics.
The Manipulator Jacobian.
Redundant and Parallel Manipulators.
ROBOT DYNAMICS AND CONTROL:
Introduction.
Lagrange's Equations.
Dynamics of Open-Chain Manipulators.
Lyapunov Stability Theory.
Position Control and Trajectory Tracking.
Control of Constrained Manipulators.
MULTIFINGERED HAND KINEMATICS:
Introduction to Grasping.
Grasp Statics.
Force-Closure.
Grasp Planning.
Grasp Constraints.
Rolling Contact Kinematics.
HAND DYNAMICS AND CONTROL:
Lagrange's Equations with Constraints.
Robot Hand Dynamics.
Redundant and Nonmanipulable Robot Systems.
Kinematics and Statics of Tendon Actuation.
Control of Robot Hands.
NONHOLONOMIC BEHAVIOR IN ROBOTIC SYSTEMS:
Introduction.
Controllability and Frobenius' Theorem.
Examples of Nonholonomic Systems.
Structure of Nonholonomic Systems.
NONHOLONOMIC MOTION PLANNING:
Introduction.
Steering Model Control Systems Using Sinusoids.
General Methods for Steering.
Dynamic Finger Repositioning.
FUTURE PROSPECTS:
Robots in Hazardous Environments.
Medical Applications for Multifingered Hands.
Robots on a Small Scale: Microrobotics.
APPENDICES:
Lie Groups and Robot Kinematics.
A Mathematica Package for Screw Calculus.
Bibliography.
Index
Each chapter also includes a Summary, Bibliography, and Exercises

Sinossi:

Book by Richard M Murray Zexiang Li S Shankar Sastry S Sha

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## 1.A Mathematical Introduction to Robotic Manipulation

Editore: CRC Press (1994)
ISBN 10: 0849379814 ISBN 13: 9780849379819
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Descrizione libro CRC Press, 1994. PAP. Condizione libro: New. New Book. Shipped from UK in 4 to 14 days. Established seller since 2000. Codice libro della libreria F9-9780849379819

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## 3.A Mathematical Introduction to Robotic Manipulation

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## 4.A Mathematical Introduction to Robotic Manipulation. CRC Press. 1994.

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## 5.A Mathematical Introduction to Robotic Manipulation (Paperback)

Editore: Taylor Francis Inc, United States (1994)
ISBN 10: 0849379814 ISBN 13: 9780849379819
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Descrizione libro Taylor Francis Inc, United States, 1994. Paperback. Condizione libro: New. 229 x 160 mm. Language: English . Brand New Book. 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. Codice libro della libreria AAC9780849379819

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## 6.A Mathematical Introduction to Robotic Manipulation (Paperback)

Editore: Taylor Francis Inc, United States (1994)
ISBN 10: 0849379814 ISBN 13: 9780849379819
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Descrizione libro Taylor Francis Inc, United States, 1994. Paperback. Condizione libro: New. 229 x 160 mm. Language: English . Brand New Book. 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. Codice libro della libreria AAC9780849379819

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## 7.A Mathematical Introduction to Robotic Manipulation

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## 8.A Mathematical Introduction to Robotic Manipulation

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Descrizione libro CRC Press. PAPERBACK. Condizione libro: New. 0849379814 NEW BOOK! MIGHT HAVE SOME SLIGHT SHELF WEAR! NO CD OR ACCESS CODE!!! FAST SHIPPING! GREAT CUSTOMER SERVICE! ENERGETIC TEAM! HONDY. Codice libro della libreria SKU1007004

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## 9.A Mathematical Introduction to Robotic Manipulation

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Descrizione libro CRC Press, 1994. PAP. Condizione libro: New. New Book.Shipped from US within 10 to 14 business days. Established seller since 2000. Codice libro della libreria IB-9780849379819

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## 10.A Mathematical Introduction to Robotic Manipulation

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Descrizione libro CRC Press, 1994. Paperback. Condizione libro: New. book. Codice libro della libreria 0849379814

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