· 2017
A Mathematical Introduction to Robotic Manipulation
- 6,734citations
- 2017year
Short summary
This work introduces a unified mathematical framework for robot manipulator kinematics, dynamics, and control, emphasizing the geometry of motion.
AI-generated from the title and abstract; the full text is not read.
Key points
- Unified mathematical framework for robot manipulation.
- Emphasizes the geometry of robot motion.
- Uses the product of the exponentials formula for kinematics.
- Covers kinematics, dynamics, and control of manipulators and hands.
- Addresses internal forces, motions, and nonholonomic rolling contact.
AI-generated from the title and abstract; the full text is not read.
Abstract
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.
The authors' abstract, as published at the source., 2017 · DOI ↗
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Field: Control and Systems Engineering
Control and Systems EngineeringEngineering