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Geometric Fundamentals of Robotics

By J.M. Selig

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  • ISBN13: 978-0-3872-0874-9
  • 416 Pages
  • User Level: Students
  • Publication Date: December 13, 2007
  • Available eBook Formats: PDF
Full Description
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.
Table of Contents

Table of Contents

  1. Preface.
  2. Introduction.
  3. Lie Groups.
  4. Subgroups.
  5. Lie Algebra.
  6. A Little Kinematics.
  7. Line Geometry.
  8. Representation Theory.
  9. Screw Systems.
  10. Clifford Algebra.
  11. A Little More Kinematics.
  12. The Study Quadric.
  13. Statics.
  14. Dynamics.
  15. Constrained Dynamics.
  16. Differential Geometry.
  17. References.
  18. Index.

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