Geometrical Methods in Robotics (Monographs in Computer Science)

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9780387947280: Geometrical Methods in Robotics (Monographs in Computer Science)
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This book provides an introduction to the geometrical concepts which are important to applications in robotics. The author shows how these concepts may be used to formulate and solve complex problems encountered in the design and construction of robots. The book begins by introducing a brief survey of algebraic and differential geometry and then the concept of Lie groups. Subsequent chapters develop the structure of Lie groups and how these relate to planar kinematics, line geometry, representation theory and other topics. Having provided the conceptual framework, the author then demonstrates the power and elegance of these methods to robotics, notably to the statics and dynamics of robots, to the problems of gripping solid objects, to the numbers of postures of robots, and to screw systems. Graduate students in computer engineering and robotics will find this an invaluable and modern introduction to this field. Researchers already working on problems in robotics will find this a useful source of reference and guide to more advanced topics.

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J. M. Selig
Published by Springer-Verlag (1996)
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