A Mathematical Introduction To Robotic Manipulation

Author : Richard M. Murray
Publisher : CRC Press
Page : 503 pages
File Size : 48,9 Mb
Release : 2017-12-14
Category : Technology & Engineering
ISBN : 9781351469791

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A Mathematical Introduction to Robotic Manipulation by Richard M. Murray Pdf

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.

Author : Richard M. Murray
Publisher : CRC Press
Page : 283 pages
File Size : 46,5 Mb
Release : 2017-12-14
Category : Technology & Engineering
ISBN : 9781351469784

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A Mathematical Introduction to Robotic Manipulation by Richard M. Murray Pdf

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.

Author : Richard M. Murray,Zexiang Li,S. Shankar Sastry,S. Shankara Sastry
Publisher : CRC Press
Page : 488 pages
File Size : 45,5 Mb
Release : 1994-03-22
Category : Technology & Engineering
ISBN : 0849379814

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A Mathematical Introduction to Robotic Manipulation by Richard M. Murray,Zexiang Li,S. Shankar Sastry,S. Shankara Sastry Pdf

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.

Author : Richard M. Murray
Publisher : Unknown
Page : 128 pages
File Size : 40,5 Mb
Release : 2015
Category : Electronic
ISBN : OCLC:908085441

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A Mathematical Introduction to Robotic Manipulation by Richard M. Murray Pdf

Author : Kevin M. Lynch,Frank C. Park
Publisher : Cambridge University Press
Page : 545 pages
File Size : 42,6 Mb
Release : 2017-05-25
Category : Computers
ISBN : 9781107156302

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Modern Robotics by Kevin M. Lynch,Frank C. Park Pdf

A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.

Author : John J. Craig
Publisher : Pearson Education India
Page : 412 pages
File Size : 55,5 Mb
Release : 2009
Category : Robotics
ISBN : 8131718360

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Introduction To Robotics: Mechanics And Control, 3/E by John J. Craig Pdf

Author : H. Asada,J.-J. E. Slotine
Publisher : John Wiley & Sons
Page : 286 pages
File Size : 40,5 Mb
Release : 1991-01-16
Category : Technology & Engineering
ISBN : 0471830291

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Robot Analysis and Control by H. Asada,J.-J. E. Slotine Pdf

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.

Author : Tsuneo Yoshikawa
Publisher : MIT Press
Page : 318 pages
File Size : 40,8 Mb
Release : 1990
Category : Computers
ISBN : 0262240289

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Foundations of Robotics by Tsuneo Yoshikawa Pdf

Foundations of Robotics presents the fundamental concepts and methodologies for the analysis, design, and control of robot manipulators.

Author : King Sun Fu
Publisher : Tata McGraw-Hill Education
Page : 0 pages
File Size : 49,9 Mb
Release : 1987
Category : Robotics
ISBN : 0070265100

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Robotics by King Sun Fu Pdf

Author : Reza N. Jazar
Publisher : Springer Science & Business Media
Page : 889 pages
File Size : 50,9 Mb
Release : 2010-06-14
Category : Technology & Engineering
ISBN : 9781441917508

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Theory of Applied Robotics by Reza N. Jazar Pdf

The second edition of this book would not have been possible without the comments and suggestions from students, especially those at Columbia University. Many of the new topics introduced here are a direct result of student feedback that helped refine and clarify the material. The intention of this book was to develop material that the author would have liked to have had available as a student. Theory of Applied Robotics: Kinematics, Dynamics, and Control (2nd Edition) explains robotics concepts in detail, concentrating on their practical use. Related theorems and formal proofs are provided, as are real-life applications. The second edition includes updated and expanded exercise sets and problems. New coverage includes: components and mechanisms of a robotic system with actuators, sensors and controllers, along with updated and expanded material on kinematics. New coverage is also provided in sensing and control including position sensors, speed sensors and acceleration sensors. Students, researchers, and practicing engineers alike will appreciate this user-friendly presentation of a wealth of robotics topics, most notably orientation, velocity, and forward kinematics.

Author : Caihua Xiong,Han Ding,You-Lun Xiong
Publisher : World Scientific
Page : 229 pages
File Size : 54,5 Mb
Release : 2007
Category : Technology & Engineering
ISBN : 9789812771834

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Fundamentals of Robotic Grasping and Fixturing by Caihua Xiong,Han Ding,You-Lun Xiong Pdf

This book provides a fundamental knowledge of robotic grasping and fixturing (RGF) manipulation. For RGF manipulation to become a science rather than an art, the content of the book is uniquely designed for a thorough understanding of the RGF from the multifingered robot hand grasp, basic fixture design principle, and evaluating and planning of robotic grasping/fixturing, and focuses on the modeling and applications of the RGF. Compared with existing publications, this volume concentrates more on abstract formulation, i.e. mathematical modeling of robotic grasping and fixturing. Thus, it will be a good reference text for academic researchers, manufacturing and industrial engineers and a textbook for engineering graduate students.The book provides readers an overall picture and scientific basis of RGF, the comprehensive information and mathematic models of developing and applying RGF in industry, and presents long term valuable information which is essential and can be used by technical professions as a good reference.

Author : Aude Billard,Sina Mirrazavi,Nadia Figueroa
Publisher : MIT Press
Page : 425 pages
File Size : 46,7 Mb
Release : 2022-02-08
Category : Technology & Engineering
ISBN : 9780262367011

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Learning for Adaptive and Reactive Robot Control by Aude Billard,Sina Mirrazavi,Nadia Figueroa Pdf

Methods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises. This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills. Learning for Adaptive and Reactive Robot Control is designed for graduate-level courses in robotics, with chapters that proceed from fundamentals to more advanced content. Techniques covered include learning from demonstration, optimization, and reinforcement learning, and using dynamical systems in learning control laws, trajectory planning, and methods for compliant and force control . Features for teaching in each chapter: applications, which range from arm manipulators to whole-body control of humanoid robots; pencil-and-paper and programming exercises; lecture videos, slides, and MATLAB code examples available on the author’s website . an eTextbook platform website offering protected material[EPS2] for instructors including solutions.

Author : Sebastian Thrun,Wolfram Burgard,Dieter Fox
Publisher : MIT Press
Page : 668 pages
File Size : 49,8 Mb
Release : 2005-08-19
Category : Technology & Engineering
ISBN : 9780262201629

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Probabilistic Robotics by Sebastian Thrun,Wolfram Burgard,Dieter Fox Pdf

An introduction to the techniques and algorithms of the newest field in robotics. Probabilistic robotics is a new and growing area in robotics, concerned with perception and control in the face of uncertainty. Building on the field of mathematical statistics, probabilistic robotics endows robots with a new level of robustness in real-world situations. This book introduces the reader to a wealth of techniques and algorithms in the field. All algorithms are based on a single overarching mathematical foundation. Each chapter provides example implementations in pseudo code, detailed mathematical derivations, discussions from a practitioner's perspective, and extensive lists of exercises and class projects. The book's Web site, www.probabilistic-robotics.org, has additional material. The book is relevant for anyone involved in robotic software development and scientific research. It will also be of interest to applied statisticians and engineers dealing with real-world sensor data.

Author : Matthew T. Mason
Publisher : MIT Press
Page : 282 pages
File Size : 40,7 Mb
Release : 2001-06-08
Category : Computers
ISBN : 0262263742

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Mechanics of Robotic Manipulation by Matthew T. Mason Pdf

The science and engineering of robotic manipulation. "Manipulation" refers to a variety of physical changes made to the world around us. Mechanics of Robotic Manipulation addresses one form of robotic manipulation, moving objects, and the various processes involved—grasping, carrying, pushing, dropping, throwing, and so on. Unlike most books on the subject, it focuses on manipulation rather than manipulators. This attention to processes rather than devices allows a more fundamental approach, leading to results that apply to a broad range of devices, not just robotic arms. The book draws both on classical mechanics and on classical planning, which introduces the element of imperfect information. The book does not propose a specific solution to the problem of manipulation, but rather outlines a path of inquiry.

Author : Timothy D. Barfoot
Publisher : Cambridge University Press
Page : 381 pages
File Size : 45,9 Mb
Release : 2017-07-31
Category : Computers
ISBN : 9781107159396

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State Estimation for Robotics by Timothy D. Barfoot Pdf

A modern look at state estimation, targeted at students and practitioners of robotics, with emphasis on three-dimensional applications.