A Mathematical Introduction to Robotic ManipulationCRC Press, 22 de mar. de 1994 - 480 páginas 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. |
Conteúdo
Introduction | 1 |
3 | 16 |
4 | 51 |
5 | 61 |
Manipulator Kinematics | 81 |
Robot Dynamics and Control | 155 |
Multifingered Hand Kinematics | 211 |
Grasp Planning | 229 |
7 | 313 |
4 | 338 |
Nonholonomic Motion Planning | 355 |
General Methods for Steering | 366 |
Dynamic Finger Repositioning | 382 |
Future Prospects | 395 |
Appendix A Lie Groups and Robot Kinematics | 403 |
Appendix B A Mathematica Package for Screw Calculus | 435 |
Outras edições - Ver todos
A Mathematical Introduction to Robotic Manipulation Richard M. Murray,Zexiang Li,S. Shankar Sastry Visualização parcial - 2017 |
Termos e frases comuns
actuated applied axes axis body velocity calculation Chapter computed configuration contact forces control law control system coordinate frame corresponding define degrees of freedom denote derived dynamics end-effector equations of motion Euler angles example exponential map fingers formula forward kinematics friction cone function given hence holonomic inertia inputs internal forces inverse kinematics Jacobian joint angles joint torques Lagrangian Lie algebra Lie bracket linear manipulator Jacobian matrix mechanism multifingered hands multifingered robot hands nonholonomic nonholonomic systems null space object optimal parallel manipulator parameterization Pfaffian Pfaffian constraints planar positive definite problem Proposition quaternion relative represent revolute joints rigid motion robot manipulator robot systems rotation satisfies shown in Figure singular skew-symmetric skew-symmetric matrix smooth solutions solve spatial velocity steering Stewart platform Subproblem surface tendon theorem tool frame torques trajectory twist variables vector fields workspace wrench
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