A Mathematical Introduction to Robotic Manipulation [Paperback]

Richard M. Murray (Author), Zexiang Li (Author), S. Shankar Sastry (Author), S. Shankara Sastry (Author)

Book Description

Publication Date: March 22, 1994 | ISBN-10: 0849379814 | ISBN-13: 978-0849379819 | Edition: 1

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.

Product Details

• Paperback: 480 pages
• Publisher: CRC Press; 1 edition (March 22, 1994)
• Language: English
• ISBN-10: 0849379814
• ISBN-13: 978-0849379819
• Product Dimensions: 9 x 6.3 x 1.2 inches
• Shipping Weight: 1.8 pounds (View shipping rates and policies)
• Average Customer Review: 3.5 out of 5 stars  See all reviews (2 customer reviews)
• Amazon Best Sellers Rank: #903,037 in Books (See Top 100 in Books)

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Customer Reviews

Most Helpful Customer Reviews

2 of 3 people found the following review helpful:

4.0 out of 5 stars a branch of applied maths, March 1, 2005

By 

W Boudville (Terra, Sol 3) - See all my reviews
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This review is from: A Mathematical Introduction to Robotic Manipulation (Paperback)

For decades, physics and engineering undergraduates have used texts on classical mechanics that often contained what some students might consider to be abstruse ideas, with little everyday usage. But this book on robotics is a worthy rejoinder. It can be regarded as an advanced text in classical mechanics.

It shows how mathematical treatments of rigid and non-rigid body rotations and displacements are necessary to correctly model robot manipulators. Plus how holonomic constraints can be used to determine system behaviour. Engineering students also get exposure to the use of Lagrange's equation in robotics. Typically nowadays, Lagrange's equation is taught in pure physics courses, with engineering undergrads having little need for it.

One implication is that some students might need to upgrade their maths background before turning to this book. (Maybe you should have paid more attention in some classes!)

1 of 5 people found the following review helpful:

3.0 out of 5 stars Not bad as a reference, August 10, 2006

By 

M. Salah "Mechatronics, Robotics and Control ... (Clemson, SC, USA) - See all my reviews
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This review is from: A Mathematical Introduction to Robotic Manipulation (Paperback)

This books deals with all kinds of manipulators. It has a good amount of math but looks not enough and not easy to understand (I did not go into the math details). I think this book would be a good reference in your library where it has a good amount of advanced information about manipulators.