Apress

Geometric Fundamentals of Robotics

2nd Edition

By J.M. Selig

Geometric Fundamentals of Robotics Cover Image

  • ISBN13: 978-0-3872-0874-9
  • 416 Pages
  • User Level: Students
  • Publication Date: December 13, 2007
  • Available eBook Formats: PDF
  • eBook Price: $97.00
Buy eBook Buy Print Book Add to Wishlist
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.
Errata

If you think that you've found an error in this book, please let us know about it. You will find any confirmed erratum below, so you can check if your concern has already been addressed.

* Required Fields

No errata are currently published