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A Mathematical Introduction to Robotic Manipulation

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...

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Main Authors: Murray, Richard M., Li, Zexiang, Sastry, S. Shankar
Format: Online
Language:English
Published: CRC Press 2026
Subjects:
Non-holonomic Systems
Multifingered Hands
Robotics engineering
Manipulator dynamics
Nonholonomic Motion Planning
Geometric control theory
Chained Form Systems
Multifingered grasping
Nonholonomic Constraints
Nonholonomic systems
Campbell Baker Hausdorff Formula
Advanced robotics course
Robotic motion planning framework
Motion Planning Problem
Lie Bracket
Holonomic Constraint
Computed Torque Controller
Vector Fields
Piecewise Constant Inputs
Lie Algebra
Euler Lagrange Equations
Fictitious Inputs
thema EDItEUR::T Technology, Engineering, Agriculture, Industrial processes::TB Technology: general issues::TBD Technical design
thema EDItEUR::T Technology, Engineering, Agriculture, Industrial processes::TH Energy technology and engineering::THY Energy, power generation, distribution and storage
thema EDItEUR::T Technology, Engineering, Agriculture, Industrial processes::TH Energy technology and engineering::THR Electrical engineering
thema EDItEUR::M Medicine and Nursing::MQ Nursing and ancillary services::MQW Biomedical engineering
Online Access:ONIX_20260323T152922_9781351469791_2
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