## A Mathematical Introduction To Robotic Manipulation

**ISBN:**9780849379819

**Author**: Richard M. Murray

**Publisher:**CRC Press

**Size**: 67.13 MB

**Format:**PDF, ePub, Mobi

**View:**6297

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.

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## A Mathematical Introduction To Robotic Manipulation Second Edition

**ISBN:**9781439847688

**Author**: Richard M. Murray

**Publisher:**CRC Press

**Size**: 19.45 MB

**Format:**PDF, ePub, Mobi

**View:**7658

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.

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## A Mathematical Introduction To Robotic Manipulation

**ISBN:**

**Author**: Richard M. Murray

**Publisher:**

**Size**: 69.53 MB

**Format:**PDF, Kindle

**View:**3285

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## Distributed Control Of Robotic Networks

**ISBN:**1400831474

**Author**: Francesco Bullo

**Publisher:**Princeton University Press

**Size**: 33.92 MB

**Format:**PDF

**View:**2413

This self-contained introduction to the distributed control of robotic networks offers a distinctive blend of computer science and control theory. The book presents a broad set of tools for understanding coordination algorithms, determining their correctness, and assessing their complexity; and it analyzes various cooperative strategies for tasks such as consensus, rendezvous, connectivity maintenance, deployment, and boundary estimation. The unifying theme is a formal model for robotic networks that explicitly incorporates their communication, sensing, control, and processing capabilities--a model that in turn leads to a common formal language to describe and analyze coordination algorithms. Written for first- and second-year graduate students in control and robotics, the book will also be useful to researchers in control theory, robotics, distributed algorithms, and automata theory. The book provides explanations of the basic concepts and main results, as well as numerous examples and exercises. Self-contained exposition of graph-theoretic concepts, distributed algorithms, and complexity measures for processor networks with fixed interconnection topology and for robotic networks with position-dependent interconnection topology Detailed treatment of averaging and consensus algorithms interpreted as linear iterations on synchronous networks Introduction of geometric notions such as partitions, proximity graphs, and multicenter functions Detailed treatment of motion coordination algorithms for deployment, rendezvous, connectivity maintenance, and boundary estimation

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## Robot Manipulators

**ISBN:**9780262160827

**Author**: Richard P. Paul

**Publisher:**Richard Paul

**Size**: 40.79 MB

**Format:**PDF, Kindle

**View:**7104

Homogeneous transformations; Kinematic equations; Solving kinematic equations; Differential relationships; Motion trajectories; Dynamics; Control; Static forces; Compliance; Programming.

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## Robot Analysis And Control

**ISBN:**9780471830290

**Author**: H. Asada

**Publisher:**John Wiley & Sons

**Size**: 78.76 MB

**Format:**PDF, ePub, Docs

**View:**7624

Introduces the basic concepts of robot manipulation--the fundamental kinematic and dynamic analysis of manipulator arms, and the key techniques for trajectory control and compliant motion control. Material is supported with abundant examples adapted from successful industrial practice or advanced research topics. Includes carefully devised conceptual diagrams, discussion of current research topics with references to the latest publications, and end-of-book problem sets. Appendixes. Bibliography.

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## Introduction To Robotics

**ISBN:**9780131236295

**Author**: John J. Craig

**Publisher:**

**Size**: 79.71 MB

**Format:**PDF, ePub

**View:**821

For senior-year or first-year graduate level robotics courses generally taught from the mechanical engineering, electrical engineering, or computer science departments.Since its original publication in 1986, Craig's Introduction to Robotics: Mechanics and Control has been the market's leading textbook used for teaching robotics at the university level. With perhaps one-half of the material from traditional mechanical engineering material, one-fourth control theoretical material, and one-fourth computer science, it covers rigid-body transformations, forward and inverse positional kinematics, velocities and Jacobians of linkages, dynamics, linear control, non-linear control, force control methodologies, mechanical design aspects, and programming of robots.

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## Robotics

**ISBN:**1846286417

**Author**: Bruno Siciliano

**Publisher:**Springer Science & Business Media

**Size**: 76.14 MB

**Format:**PDF, Kindle

**View:**1248

Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, 2000), Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile robots, visual control and motion planning. A variety of problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained. The text includes coverage of fundamental topics like kinematics, and trajectory planning and related technological aspects including actuators and sensors. To impart practical skill, examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, end-of-chapter exercises are proposed, and the book is accompanied by an electronic solutions manual containing the MATLABĀ® code for computer problems; this is available free of charge to those adopting this volume as a textbook for courses.

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## Nonholonomic Motion Planning

**ISBN:**9780792392750

**Author**: Zexiang Li

**Publisher:**Springer Science & Business Media

**Size**: 40.33 MB

**Format:**PDF, Docs

**View:**7630

Nonholonomic Motion Planning grew out of the workshop that took place at the 1991 IEEE International Conference on Robotics and Automation. It consists of contributed chapters representing new developments in this area. Contributors to the book include robotics engineers, nonlinear control experts, differential geometers and applied mathematicians. Nonholonomic Motion Planning is arranged into three chapter groups: Controllability: one of the key mathematical tools needed to study nonholonomic motion. Motion Planning for Mobile Robots: in this section the papers are focused on problems with nonholonomic velocity constraints as well as constraints on the generalized coordinates. Falling Cats, Space Robots and Gauge Theory: there are numerous connections to be made between symplectic geometry techniques for the study of holonomies in mechanics, gauge theory and control. In this section these connections are discussed using the backdrop of examples drawn from space robots and falling cats reorienting themselves. Nonholonomic Motion Planning can be used either as a reference for researchers working in the areas of robotics, nonlinear control and differential geometry, or as a textbook for a graduate level robotics or nonlinear control course.

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## Planning Algorithms

**ISBN:**9780511241338

**Author**: Steven Michael LaValle

**Publisher:**

**Size**: 21.89 MB

**Format:**PDF, ePub

**View:**4864

Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that integrates literature from several fields into a coherent source for teaching and reference in applications including robotics, computational biology, computer graphics, manufacturing, aerospace applications, and medicine.

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