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Geometrical Methods In Robotics
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Book Synopsis Geometrical Methods in Robotics by : J.M. Selig
Download or read book Geometrical Methods in Robotics written by J.M. Selig and published by Springer Science & Business Media. This book was released on 2013-03-09 with total page 273 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Geometric Methods and Applications by : Jean Gallier
Download or read book Geometric Methods and Applications written by Jean Gallier and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 584 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Multi-View Geometry Based Visual Perception and Control of Robotic Systems by : Jian Chen
Download or read book Multi-View Geometry Based Visual Perception and Control of Robotic Systems written by Jian Chen and published by CRC Press. This book was released on 2018-06-14 with total page 369 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Modeling, Identification and Control of Robots by : W. Khalil
Download or read book Modeling, Identification and Control of Robots written by W. Khalil and published by Butterworth-Heinemann. This book was released on 2004-07-01 with total page 503 pages. Available in PDF, EPUB and Kindle. Book excerpt: Written by two of Europe's leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots.·World class authority·Unique range of coverage not available in any other book·Provides a complete course on robotic control at an undergraduate and graduate level
Book Synopsis Geometric Fundamentals of Robotics by : J.M. Selig
Download or read book Geometric Fundamentals of Robotics written by J.M. Selig and published by Springer Science & Business Media. This book was released on 2007-12-13 with total page 402 pages. Available in PDF, EPUB and Kindle. Book excerpt: * 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
Book Synopsis Algebraic Geometry For Robotics And Control Theory by : Laura Menini
Download or read book Algebraic Geometry For Robotics And Control Theory written by Laura Menini and published by World Scientific. This book was released on 2021-09-02 with total page 615 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Geometrical Foundations of Robotics by : J. M. Selig
Download or read book Geometrical Foundations of Robotics written by J. M. Selig and published by World Scientific. This book was released on 2000 with total page 166 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Modern Robotics written by Kevin M. Lynch and published by Cambridge University Press. This book was released on 2017-05-25 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Book Synopsis Digital Geometry by : Reinhard Klette
Download or read book Digital Geometry written by Reinhard Klette and published by Morgan Kaufmann. This book was released on 2004-08-06 with total page 676 pages. Available in PDF, EPUB and Kindle. Book excerpt: The first book on digital geometry by the leaders in the field.
Book Synopsis Statics and Kinematics with Applications to Robotics by : Joseph Duffy
Download or read book Statics and Kinematics with Applications to Robotics written by Joseph Duffy and published by Cambridge University Press. This book was released on 1996-05-31 with total page 204 pages. Available in PDF, EPUB and Kindle. Book excerpt: A thorough introduction to statics and first-order instantaneous kinematics with applications to robotics.
Book Synopsis A Mathematical Introduction to Robotic Manipulation by : Richard M. Murray
Download or read book A Mathematical Introduction to Robotic Manipulation written by Richard M. Murray and published by CRC Press. This book was released on 2017-12-14 with total page 488 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Geometric Control of Mechanical Systems by : Francesco Bullo
Download or read book Geometric Control of Mechanical Systems written by Francesco Bullo and published by Springer. This book was released on 2019-06-12 with total page 727 pages. Available in PDF, EPUB and Kindle. Book excerpt: The area of analysis and control of mechanical systems using differential geometry is flourishing. This book collects many results over the last decade and provides a comprehensive introduction to the area.
Download or read book Mobile Robotics written by Alonzo Kelly and published by Cambridge University Press. This book was released on 2013-11-11 with total page 717 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction -- Math fundamentals -- Numerical methods -- Dynamics -- Optimal estimation -- State estimation -- Control -- Perception -- Localization and mapping -- Motion planning
Book Synopsis Geometric Control Theory by : Velimir Jurdjevic
Download or read book Geometric Control Theory written by Velimir Jurdjevic and published by Cambridge University Press. This book was released on 1997 with total page 516 pages. Available in PDF, EPUB and Kindle. Book excerpt: Geometric control theory is concerned with the evolution of systems subject to physical laws but having some degree of freedom through which motion is to be controlled. This book describes the mathematical theory inspired by the irreversible nature of time evolving events. The first part of the book deals with the issue of being able to steer the system from any point of departure to any desired destination. The second part deals with optimal control, the question of finding the best possible course. An overlap with mathematical physics is demonstrated by the Maximum principle, a fundamental principle of optimality arising from geometric control, which is applied to time-evolving systems governed by physics as well as to man-made systems governed by controls. Applications are drawn from geometry, mechanics, and control of dynamical systems. The geometric language in which the results are expressed allows clear visual interpretations and makes the book accessible to physicists and engineers as well as to mathematicians.
Book Synopsis Screw Theory in Robotics by : Jose M. Pardos-Gotor
Download or read book Screw Theory in Robotics written by Jose M. Pardos-Gotor and published by CRC Press. This book was released on 2021-11-23 with total page 255 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Geometric Algebra Applications Vol. II by : Eduardo Bayro-Corrochano
Download or read book Geometric Algebra Applications Vol. II written by Eduardo Bayro-Corrochano and published by Springer Nature. This book was released on 2020-06-19 with total page 609 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a unified mathematical treatment of diverse problems in the general domain of robotics and associated fields using Clifford or geometric alge- bra. By addressing a wide spectrum of problems in a common language, it offers both fresh insights and new solutions that are useful to scientists and engineers working in areas related with robotics. It introduces non-specialists to Clifford and geometric algebra, and provides ex- amples to help readers learn how to compute using geometric entities and geomet- ric formulations. It also includes an in-depth study of applications of Lie group theory, Lie algebra, spinors and versors and the algebra of incidence using the universal geometric algebra generated by reciprocal null cones. Featuring a detailed study of kinematics, differential kinematics and dynamics using geometric algebra, the book also develops Euler Lagrange and Hamiltoni- ans equations for dynamics using conformal geometric algebra, and the recursive Newton-Euler using screw theory in the motor algebra framework. Further, it comprehensively explores robot modeling and nonlinear controllers, and discusses several applications in computer vision, graphics, neurocomputing, quantum com- puting, robotics and control engineering using the geometric algebra framework. The book also includes over 200 exercises and tips for the development of future computer software packages for extensive calculations in geometric algebra, and a entire section focusing on how to write the subroutines in C++, Matlab and Maple to carry out efficient geometric computations in the geometric algebra framework. Lastly, it shows how program code can be optimized for real-time computations. An essential resource for applied physicists, computer scientists, AI researchers, roboticists and mechanical and electrical engineers, the book clarifies and demon- strates the importance of geometric computing for building autonomous systems to advance cognitive systems research.
Book Synopsis Springer Handbook of Robotics by : Bruno Siciliano
Download or read book Springer Handbook of Robotics written by Bruno Siciliano and published by Springer Science & Business Media. This book was released on 2008-05-20 with total page 1626 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
