A Mathematical Introduction to Robotic Manipulation

by Richard M. Murray, Zexiang Li, S. Shankar Sastry

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.

Genres: Engineering, Textbooks

476 pages, Paperback

First published March 22, 1994

Reviews

[Vishesh · Rating 5 out of 5]

By far the best mathematical introduction to robotics in general.

[James · Rating 5 out of 5]

This book contains a lot of mathematical formalism about robotics which is difficult to find elsewhere. Essential reading for anyone working with robotic manipulators. If you have to pick one book to learn about the mathematics of robots choose this book. It's physically quite small compared to a lot of other reference books and yet the text is still readable. I did have to find a second-hand copy; not a problem as its now full of bookmarks and penciled-in notes.