Geometrical Methods In Robotics PDF Download
Are you looking for read ebook online? Search for your book and save it on your Kindle device, PC, phones or tablets. Download Geometrical Methods In Robotics PDF full book. Access full book title Geometrical Methods In Robotics.
| Author | : J.M. Selig |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 273 |
| Release | : 2013-03-09 |
| Genre | : Computers |
| ISBN | : 1475724845 |
Download Geometrical Methods in Robotics Book in PDF, ePub and Kindle
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.
| Author | : J. M. Selig |
| Publisher | : World Scientific |
| Total Pages | : 166 |
| Release | : 2000 |
| Genre | : Computers |
| ISBN | : 9810241135 |
Download Geometrical Foundations of Robotics Book in PDF, ePub and Kindle
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.
| Author | : J.M. Selig |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 402 |
| Release | : 2007-12-13 |
| Genre | : Technology & Engineering |
| ISBN | : 0387272747 |
Download Geometric Fundamentals of Robotics Book in PDF, ePub and Kindle
* Provides an elegant introduction to the geometric concepts that are important to applications in robotics * Includes significant state-of-the art material that reflects important advances, connecting robotics back to mathematical fundamentals in group theory and geometry * An invaluable reference that serves a wide audience of grad students and researchers in mechanical engineering, computer science, and applied mathematics
| Author | : Jean Gallier |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 584 |
| Release | : 2012-12-06 |
| Genre | : Mathematics |
| ISBN | : 1461301378 |
Download Geometric Methods and Applications Book in PDF, ePub and Kindle
As an introduction to fundamental geometric concepts and tools needed for solving problems of a geometric nature using a computer, this book fills the gap between standard geometry books, which are primarily theoretical, and applied books on computer graphics, computer vision, or robotics that do not cover the underlying geometric concepts in detail. Gallier offers an introduction to affine, projective, computational, and Euclidean geometry, basics of differential geometry and Lie groups, and explores many of the practical applications of geometry. Some of these include computer vision, efficient communication, error correcting codes, cryptography, motion interpolation, and robot kinematics. This comprehensive text covers most of the geometric background needed for conducting research in computer graphics, geometric modeling, computer vision, and robotics and as such will be of interest to a wide audience including computer scientists, mathematicians, and engineers.
| Author | : Jian Chen |
| Publisher | : CRC Press |
| Total Pages | : 303 |
| Release | : 2018-06-14 |
| Genre | : Computers |
| ISBN | : 0429951221 |
Download Multi-View Geometry Based Visual Perception and Control of Robotic Systems Book in PDF, ePub and Kindle
This book describes visual perception and control methods for robotic systems that need to interact with the environment. Multiple view geometry is utilized to extract low-dimensional geometric information from abundant and high-dimensional image information, making it convenient to develop general solutions for robot perception and control tasks. In this book, multiple view geometry is used for geometric modeling and scaled pose estimation. Then Lyapunov methods are applied to design stabilizing control laws in the presence of model uncertainties and multiple constraints.
| Author | : Laura Menini |
| Publisher | : World Scientific |
| Total Pages | : 615 |
| Release | : 2021-09-02 |
| Genre | : Technology & Engineering |
| ISBN | : 1800610475 |
Download Algebraic Geometry For Robotics And Control Theory Book in PDF, ePub and Kindle
The development of inexpensive and fast computers, coupled with the discovery of efficient algorithms for dealing with polynomial equations, has enabled exciting new applications of algebraic geometry and commutative algebra. Algebraic Geometry for Robotics and Control Theory shows how tools borrowed from these two fields can be efficiently employed to solve relevant problem arising in robotics and control theory.After a brief introduction to various algebraic objects and techniques, the book first covers a wide variety of topics concerning control theory, robotics, and their applications. Specifically this book shows how these computational and theoretical methods can be coupled with classical control techniques to: solve the inverse kinematics of robotic arms; design observers for nonlinear systems; solve systems of polynomial equalities and inequalities; plan the motion of mobile robots; analyze Boolean networks; solve (possibly, multi-objective) optimization problems; characterize the robustness of linear; time-invariant plants; and certify positivity of polynomials.
| Author | : Kevin M. Lynch |
| Publisher | : Cambridge University Press |
| Total Pages | : 545 |
| Release | : 2017-05-25 |
| Genre | : Computers |
| ISBN | : 1107156300 |
Download Modern Robotics Book in PDF, ePub and Kindle
A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
| Author | : William Holderbaum |
| Publisher | : Springer Nature |
| Total Pages | : 179 |
| Release | : 2021-11-20 |
| Genre | : Technology & Engineering |
| ISBN | : 303091352X |
Download 2nd IMA Conference on Mathematics of Robotics Book in PDF, ePub and Kindle
This book highlights the mathematical depth and sophistication of techniques used in different areas of robotics. Each chapter is a peer-reviewed version of a paper presented during the 2021 IMA Conference on the Mathematics of Robotics, held online September 8–10, 2021. The conference gave a platform to researchers with fundamental contributions and for academic and to share new ideas. The book illustrates some of the current interest in advanced mathematics and robotics such as algebraic geometry, tropical geometry, monodromy and homotopy continuation methods applied to areas such as kinematics, path planning, swam robotics, dynamics and control. It is hoped that the conference and this publications will stimulate further related mathematical research in robotics.
| Author | : Richard M. Murray |
| Publisher | : CRC Press |
| Total Pages | : 503 |
| Release | : 2017-12-14 |
| Genre | : Technology & Engineering |
| ISBN | : 1351469797 |
Download A Mathematical Introduction to Robotic Manipulation Book in PDF, ePub and Kindle
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 | : Jose M. Pardos-Gotor |
| Publisher | : CRC Press |
| Total Pages | : 255 |
| Release | : 2021-11-23 |
| Genre | : Technology & Engineering |
| ISBN | : 1000481565 |
Download Screw Theory in Robotics Book in PDF, ePub and Kindle
Screw theory is an effective and efficient method used in robotics applications. This book demonstrates how to implement screw theory, explaining the key fundamentals and real-world applications using a practical and visual approach. An essential tool for those involved in the development of robotics implementations, the book uses case studies to analyze mechatronics. Screw theory offers a significant opportunity to interpret mechanics at a high level, facilitating contemporary geometric techniques in solving common robotics issues. Using these solutions results in an optimized performance in comparison to algebraic and numerical options. Demonstrating techniques such as six-dimensional (6D) vector notation and the Product of Exponentials (POE), the use of screw theory notation reduces the need for complex algebra, which results in simpler code, which is easier to write, comprehend, and debug. The book provides exercises and simulations to demonstrate this with new formulas and algorithms presented to aid the reader in accelerating their learning. By walking the user through the fundamentals of screw theory, and by providing a complete set of examples for the most common robot manipulator architecture, the book delivers an excellent foundation through which to comprehend screw theory developments. The visual approach of the book means it can be used as a self-learning tool for professionals alongside students. It will be of interest to those studying robotics, mechanics, mechanical engineering, and electrical engineering.
