Один из самых популярных и интересных учебников по робототехнике.
CRC Press, 1st edition, 1994, 480 pages. The book 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
inteal forces and inteal 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.
Murray R.M., Li Z., Sastry S. A Mathematical Introduction to Robotic Manipulation
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- размер 2.67 МБ
- добавлен 30 июня 2009 г.
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