Geometrical Methods In Robotics
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Geometrical Methods In Robotics
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Author : J.M. Selig
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-03-09
Geometrical Methods In Robotics written by J.M. Selig and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-03-09 with Computers categories.
The main aim of this book is to introduce Lie groups and allied algebraic and geometric concepts to a robotics audience. These topics seem to be quite fashionable at the moment, but most of the robotics books that touch on these topics tend to treat Lie groups as little more than a fancy notation. I hope to show the power and elegance of these methods as they apply to problems in robotics. A subsidiary aim of the book is to reintroduce some old ideas by describing them in modem notation, particularly Study's Quadric-a description of the group of rigid motions in three dimensions as an algebraic variety (well, actually an open subset in an algebraic variety)-as well as some of the less well known aspects of Ball's theory of screws. In the first four chapters, a careful exposition of the theory of Lie groups and their Lie algebras is given. Except for the simplest examples, all examples used to illustrate these ideas are taken from robotics. So, unlike most standard texts on Lie groups, emphasis is placed on a group that is not semi-simple-the group of proper Euclidean motions in three dimensions. In particular, the continuous subgroups of this group are found, and the elements of its Lie algebra are identified with the surfaces of the lower Reuleaux pairs. These surfaces were first identified by Reuleaux in the latter half of the 19th century.
Geometrical Foundations Of Robotics
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Author : Jon Selig
language : en
Publisher: World Scientific
Release Date : 2000-03-24
Geometrical Foundations Of Robotics written by Jon Selig and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2000-03-24 with Computers categories.
This book is a collection of talks presented at the 1998 IEEE International Conference on Robotics and Automation. Broadly, the meeting discussed the application of modern geometrical methods to problems in robotics. There are now a few textbooks in this area and more papers in the literature. The aim of this book is to introduce these ideas, their simplicity and power, to a wider audience.The first three chapters give an introduction to the Lie group and Lie algebras. The focus is on the group of rigid body transformations in space, namely the Lie group which is fundamental to robotics. The following chapters provide an overview of some of the most up-to-date work in the field of geometrical methods in robotics and have been written by some of the leading researchers in the field. The applications addressed cover the design of robot kinematics, the analysis of singularities in robots and mechanisms, and a geometric view of some computational issues.
Geometric Fundamentals Of Robotics
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Author : J.M. Selig
language : en
Publisher: Springer Science & Business Media
Release Date : 2007-12-13
Geometric Fundamentals Of Robotics written by J.M. Selig and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007-12-13 with Technology & Engineering categories.
Geometric Fundamentals of Robotics provides an elegant introduction to the geometric concepts that are important to applications in robotics. This second edition is still unique in providing a deep understanding of the subject: rather than focusing on computational results in kinematics and robotics, it includes significant state-of-the-art material that reflects important advances in the field, connecting robotics back to mathematical fundamentals in group theory and geometry. Geometric Fundamentals of Robotics serves a wide audience of graduate students as well as researchers in a variety of areas, notably mechanical engineering, computer science, and applied mathematics. It is also an invaluable reference text.
Geometrical Foundations Of Robotics
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Author : J. M. Selig
language : en
Publisher: World Scientific
Release Date : 2000
Geometrical Foundations Of Robotics written by J. M. Selig and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2000 with Computers categories.
This book is a collection of talks presented at the 1998 IEEE International Conference on Robotics and Automation. Broadly, the meeting discussed the application of modern geometrical methods to problems in robotics. There are now a few textbooks in this area and more papers in the literature. The aim of this book is to introduce these ideas, their simplicity and power, to a wider audience. The first three chapters give an introduction to the Lie group and Lie algebras. The focus is on the group of rigid body transformations in space, namely the Lie group which is fundamental to robotics. The following chapters provide an overview of some of the most up-to-date work in the field of geometrical methods in robotics and have been written by some of the leading researchers in the field. The applications addressed cover the design of robot kinematics, the analysis of singularities in robots and mechanisms, and a geometric view of some computational issues.
Springer Handbook Of Robotics
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Author : Bruno Siciliano
language : en
Publisher: Springer Science & Business Media
Release Date : 2008-05-20
Springer Handbook Of Robotics written by Bruno Siciliano and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-05-20 with Technology & Engineering categories.
With the science of robotics undergoing a major transformation just now, Springer’s new, authoritative handbook on the subject couldn’t have come at a better time. Having broken free from its origins in industry, robotics has been rapidly expanding into the challenging terrain of unstructured environments. Unlike other handbooks that focus on industrial applications, the Springer Handbook of Robotics incorporates these new developments. Just like all Springer Handbooks, it is utterly comprehensive, edited by internationally renowned experts, and replete with contributions from leading researchers from around the world. The handbook is an ideal resource for robotics experts but also for people new to this expanding field.
Algebraic And Geometric Methods In Nonlinear Control Theory
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Author : M. Fliess
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Algebraic And Geometric Methods In Nonlinear Control Theory written by M. Fliess and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Mathematics categories.
Approach your problems from the right end It isn't that they can't see the solution. It is and begin with the answers. Then one day, that they can't see the problem. perhaps you will find the final question. G. K. Chesterton. The Scandal of Father 'The Hermit Clad in Crane Feathers' in R. Brown 'The point"of a Pin'. van GuIik's The Chinese Maze Murders. Growing specialization and diversification have brought a host of monographs and textbooks on increasingly specialized topics. However, the "tree" of knowledge of mathematics and related fields does not grow only by putting forth new branches. It also happens, quite often in fact, that branches which were thought to be completely disparate are suddenly seen to be related. Further, the kind and level of sophistication of mathematics applied in various sciences has changed drastically in recent years: measure theory is used (non trivially) in regional and theoretical economics; algebraic geometry interacts with physics; ihe Minkowsky lemma, coding theory and the structure of water meet one another in packing and covering theory; quantum fields, crystal defects and mathematical programming profit from homotopy theory; Lie algebras ·are relevant to filtering; and prediction and electrical engineering can use Stein spaces. And in addition to this there are such new emerging subdisciplines as "experimental mathematics", "CFD", "completely integrable systems", "chaos, synergetics and large-scale order", which are almost impossible to fit into the existing classification schemes. They draw upon widely different sections of mathematics.
Geometric Methods In Robotics And Mechanism Research
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Author : Yunjiang Lou
language : en
Publisher: LAP Lambert Academic Publishing
Release Date : 2011
Geometric Methods In Robotics And Mechanism Research written by Yunjiang Lou and has been published by LAP Lambert Academic Publishing this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011 with Geometrical models categories.
This book presents the most recent research advances in the theory, design, and application of robotics and mechanisms. The topics cover Lie group theory based, screw theory based, and set theory based methods in type synthesis, kinematic and static analysis, and design of robotic mechanisms, especially parallel mechanisms. Innovative designs of parallel mechanism are obtained for pick and place applications, nano-manipulation, and surgical robots. The results should interest researchers, teachers, and students, in fields of engineering and mathematics related to robot theory, design, and application.
Geometric Method For Type Synthesis Of Parallel Manipulators
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Author : Qinchuan Li
language : en
Publisher: Springer
Release Date : 2019-07-03
Geometric Method For Type Synthesis Of Parallel Manipulators written by Qinchuan Li and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-07-03 with Technology & Engineering categories.
This book focuses on the synthesis of lower-mobility parallel manipulators, presenting a group-theory-based method that has the advantage of being geometrically intrinsic. Rotations and translations of a rigid body as well as a combination of the two can be expressed and handled elegantly using the group algebraic structure of the set of rigid-body displacements. The book gathers the authors’ research results, which were previously scattered in various journals and conference proceedings, presenting them in a unified form. Using the presented method, it reveals numerous novel architectures of lower-mobility parallel manipulators, which are of interest to those in the robotics community. More importantly, readers can use the method and tool to develop new types of lower-mobility parallel manipulators independently.
Robot Analysis
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Author : Lung-Wen Tsai
language : en
Publisher: John Wiley & Sons
Release Date : 1999-02-22
Robot Analysis written by Lung-Wen Tsai and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 1999-02-22 with Technology & Engineering categories.
Complete, state-of-the-art coverage of robot analysis This unique book provides the fundamental knowledge needed for understanding the mechanics of both serial and parallel manipulators. Presenting fresh and authoritative material on parallel manipulators that is not available in any other resource, it offers an in-depth treatment of position analysis, Jacobian analysis, statics and stiffness analysis, and dynamical analysis of both types of manipulators, including a discussion of industrial and research applications. It also features: * The homotopy continuation method and dialytic elimination method for solving polynomial systems that apply to robot kinematics * Numerous worked examples and problems to reinforce learning * An extensive bibliography offering many resources for more advanced study Drawing on Dr. Lung-Wen Tsai's vast experience in the field as well as recent research publications, Robot Analysis is a first-rate text for upper-level undergraduate and graduate students in mechanical engineering, electrical engineering, and computer studies, as well as an excellent desktop reference for robotics researchers working in industry or in government.
A Geometric Algebra Invitation To Space Time Physics Robotics And Molecular Geometry
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Author : Carlile Lavor
language : en
Publisher: Springer
Release Date : 2018-07-12
A Geometric Algebra Invitation To Space Time Physics Robotics And Molecular Geometry written by Carlile Lavor and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-07-12 with Mathematics categories.
This book offers a gentle introduction to key elements of Geometric Algebra, along with their applications in Physics, Robotics and Molecular Geometry. Major applications covered are the physics of space-time, including Maxwell electromagnetism and the Dirac equation; robotics, including formulations for the forward and inverse kinematics and an overview of the singularity problem for serial robots; and molecular geometry, with 3D-protein structure calculations using NMR data. The book is primarily intended for graduate students and advanced undergraduates in related fields, but can also benefit professionals in search of a pedagogical presentation of these subjects.