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008 100301s2005 xxu| s |||| 0|eng d
020 6 4 _a9780387272740
_9978-0-387-27274-0
024 8 7 _a10.1007/b138859
_2doi
050 8 4 _aQ334-342
050 8 4 _aTJ210.2-211.495
072 8 7 _aUYQ
_2bicssc
072 8 7 _aTJFM1
_2bicssc
072 8 7 _aCOM004000
_2bisacsh
082 _a006.3
_223
100 8 1 _aSelig, J. M.
_eauthor.
_914176
245 9 7 _aGeometric Fundamentals of Robotics
_h[electronic resource] /
_cby J. M. Selig.
001 000044801
250 6 4 _aSecond Edition.
300 6 4 _aXVIII, 398 p. 32 illus.
_bonline resource.
490 8 1 _aMonographs in Computer Science,
_x0172-603X
505 8 0 _aLie Groups -- Subgroups -- Lie Algebra -- A Little Kinematics -- Line Geometry -- Representation Theory -- Screw Systems -- Clifford Algebra -- A Little More Kinematics -- The Study Quadric -- Statics -- Dynamics -- Constrained Dynamics -- Differential Geometry.
520 6 4 _aGeometric 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. Key features: * Begins with a brief survey of basic notions in algebraic and differential geometry, Lie groups and Lie algebras * Examines how, in a new chapter, Clifford algebra is relevant to robot kinematics and Euclidean geometry in 3D * Introduces mathematical concepts and methods using examples from robotics * Solves substantial problems in the design and control of robots via new methods * Provides solutions to well-known enumerative problems in robot kinematics using intersection theory on the group of rigid body motions * Extends dynamics, in another new chapter, to robots with end-effector constraints, which lead to equations of motion for parallel manipulators 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. ----- From a Review of the First Edition: "The majority of textbooks dealing with this subject cover various topics in kinematics, dynamics, control, sensing, and planning for robot manipulators. The distinguishing feature of this book is that it introduces mathematical tools, especially geometric ones, for solving problems in robotics. In particular, Lie groups and allied algebraic and geometric concepts are presented in a comprehensive manner to an audience interested in robotics. The aim of the author is to show the power and elegance of these methods as they apply to problems in robotics." --MathSciNet
650 8 0 _aComputer science.
_914177
650 8 0 _aArtificial intelligence.
_98970
650 8 0 _aTopological Groups.
_99529
650 8 0 _aMathematics.
_98571
650 8 0 _aGlobal differential geometry.
_99530
650 _aComputer Science.
_914178
650 _aArtificial Intelligence (incl. Robotics).
_98973
650 _aApplications of Mathematics.
_99618
650 _aMath Applications in Computer Science.
_911135
650 _aDifferential Geometry.
_99532
650 _aTopological Groups, Lie Groups.
_99531
650 _aAutomation and Robotics.
_910998
710 8 2 _aSpringerLink (Online service)
_914179
773 8 0 _tSpringer eBooks
776 _iPrinted edition:
_z9780387208749
830 8 0 _aMonographs in Computer Science,
_x0172-603X
_914180
856 _uhttp://dx.doi.org/10.1007/b138859
_zde clik aquí para ver el libro electrónico
264 8 1 _aNew York, NY :
_bSpringer New York,
_c2005.
336 6 4 _atext
_btxt
_2rdacontent
337 6 4 _acomputer
_bc
_2rdamedia
338 6 4 _aonline resource
_bcr
_2rdacarrier
347 6 4 _atext file
_bPDF
_2rda
516 6 4 _aZDB-2-SCS
999 _c44530
_d44530
942 _c05