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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| Autori principali: | , , |
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| Natura: | Online |
| Lingua: | inglese |
| Pubblicazione: |
CRC Press
2026
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| Accesso online: | ONIX_20260323T152922_9781351469791_2 |
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| _version_ | 1869520124228141056 |
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| author | Murray, Richard M. Li, Zexiang Sastry, S. Shankar |
| author_browse | Li, Zexiang Murray, Richard M. Sastry, S. Shankar |
| author_facet | Murray, Richard M. Li, Zexiang Sastry, S. Shankar |
| author_sort | Murray, Richard M. |
| collection | Directory of Open Access Books |
| description | 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. |
| format | Online |
| id | doab-20.500.12854ir-174269 |
| institution | Directory of Open Access Books |
| language | eng |
| publishDate | 2026 |
| publishDateRange | 2026 |
| publishDateSort | 2026 |
| publisher | CRC Press |
| publisherStr | CRC Press |
| record_format | ojs |
| spelling | doab-20.500.12854ir-1742692026-03-24T05:30:04Z A Mathematical Introduction to Robotic Manipulation Murray, Richard M. Li, Zexiang Sastry, S. Shankar 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 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. 2026-03-24T05:30:00Z 2026-03-24T05:30:00Z 2026-03-23T15:19:12Z 2017 book ONIX_20260323T152922_9781351469791_2 https://library.oapen.org/handle/20.500.12657/112144 9781351469791 9781351469777 9781351469784 9781315136370 https://directory.doabooks.org/handle/20.500.12854/174269 eng open access image/jpeg n/a https://library.oapen.org/bitstream/20.500.12657/112144/1/9781351469791.pdf CRC Press CRC Press 10.1201/9781315136370 10.1201/9781315136370 82beefe5-482e-4277-9971-e4ee0480a152 9781351469791 9781351469777 9781351469784 9781315136370 CRC Press 519 open access |
| spellingShingle | 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 Murray, Richard M. Li, Zexiang Sastry, S. Shankar A Mathematical Introduction to Robotic Manipulation |
| title | A Mathematical Introduction to Robotic Manipulation |
| title_full | A Mathematical Introduction to Robotic Manipulation |
| title_fullStr | A Mathematical Introduction to Robotic Manipulation |
| title_full_unstemmed | A Mathematical Introduction to Robotic Manipulation |
| title_short | A Mathematical Introduction to Robotic Manipulation |
| title_sort | mathematical introduction to robotic manipulation |
| topic | 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 |
| topic_facet | 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 |
| url | ONIX_20260323T152922_9781351469791_2 |
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