Mathematical Introduction to Robotic Manipulation, Hardcover by Murray, Richa...

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Item specifics

Condition
Brand New: A new, unread, unused book in perfect condition with no missing or damaged pages. See the ...
Book Title
Mathematical Introduction to Robotic Manipulation
ISBN
9780849379819
Subject Area
Technology & Engineering
Publication Name
Mathematical Introduction to Robotic Manipulation
Publisher
CRC Press LLC
Item Length
9.3 in
Subject
Industrial Design / General, Electrical, Robotics
Publication Year
1994
Type
Textbook
Format
Hardcover
Language
English
Item Height
1.3 in
Author
Richard M. Murray
Item Weight
24.9 Oz
Item Width
6.3 in
Number of Pages
480 Pages
Category

About this product

Product Identifiers

Publisher
CRC Press LLC
ISBN-10
0849379814
ISBN-13
9780849379819
eBay Product ID (ePID)
682516

Product Key Features

Number of Pages
480 Pages
Publication Name
Mathematical Introduction to Robotic Manipulation
Language
English
Subject
Industrial Design / General, Electrical, Robotics
Publication Year
1994
Type
Textbook
Subject Area
Technology & Engineering
Author
Richard M. Murray
Format
Hardcover

Dimensions

Item Height
1.3 in
Item Weight
24.9 Oz
Item Length
9.3 in
Item Width
6.3 in

Additional Product Features

Intended Audience
College Audience
LCCN
93-033167
TitleLeading
A
Dewey Edition
20
Illustrated
Yes
Dewey Decimal
629.8/92
Table Of Content
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
Synopsis
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., A Mathematical Introduction to Robotic Manipulation presents a unified formulation of the kinematics, dynamics, and control of robot manipulators. The authors use 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 wealth of information, numerous examples, and exercises make this work valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.
LC Classification Number
TJ211.M87 1994

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