Geometrical Methods In Robotics
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Geometrical Methods In Robotics
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Author : J.M. Selig
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-03-09
Geometrical Methods In Robotics written by J.M. Selig and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-03-09 with Computers categories.
The main aim of this book is to introduce Lie groups and allied algebraic and geometric concepts to a robotics audience. These topics seem to be quite fashionable at the moment, but most of the robotics books that touch on these topics tend to treat Lie groups as little more than a fancy notation. I hope to show the power and elegance of these methods as they apply to problems in robotics. A subsidiary aim of the book is to reintroduce some old ideas by describing them in modem notation, particularly Study's Quadric-a description of the group of rigid motions in three dimensions as an algebraic variety (well, actually an open subset in an algebraic variety)-as well as some of the less well known aspects of Ball's theory of screws. In the first four chapters, a careful exposition of the theory of Lie groups and their Lie algebras is given. Except for the simplest examples, all examples used to illustrate these ideas are taken from robotics. So, unlike most standard texts on Lie groups, emphasis is placed on a group that is not semi-simple-the group of proper Euclidean motions in three dimensions. In particular, the continuous subgroups of this group are found, and the elements of its Lie algebra are identified with the surfaces of the lower Reuleaux pairs. These surfaces were first identified by Reuleaux in the latter half of the 19th century.
Geometrical Foundations Of Robotics
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Author : J. M. Selig
language : en
Publisher: World Scientific
Release Date : 2000
Geometrical Foundations Of Robotics written by J. M. Selig and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2000 with Computers categories.
This book is a collection of talks presented at the 1998 IEEE International Conference on Robotics and Automation. Broadly, the meeting discussed the application of modern geometrical methods to problems in robotics. There are now a few textbooks in this area and more papers in the literature. The aim of this book is to introduce these ideas, their simplicity and power, to a wider audience. The first three chapters give an introduction to the Lie group and Lie algebras. The focus is on the group of rigid body transformations in space, namely the Lie group which is fundamental to robotics. The following chapters provide an overview of some of the most up-to-date work in the field of geometrical methods in robotics and have been written by some of the leading researchers in the field. The applications addressed cover the design of robot kinematics, the analysis of singularities in robots and mechanisms, and a geometric view of some computational issues.
Geometric Fundamentals Of Robotics
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Author : J.M. Selig
language : en
Publisher: Springer Science & Business Media
Release Date : 2007-12-13
Geometric Fundamentals Of Robotics written by J.M. Selig and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007-12-13 with Technology & Engineering categories.
* Provides an elegant introduction to the geometric concepts that are important to applications in robotics * Includes significant state-of-the art material that reflects important advances, connecting robotics back to mathematical fundamentals in group theory and geometry * An invaluable reference that serves a wide audience of grad students and researchers in mechanical engineering, computer science, and applied mathematics
Geometric Methods In Modern Biomechanics
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Author : Tijana T. Ivancevic
language : en
Publisher: Nova Science Publishers
Release Date : 2012
Geometric Methods In Modern Biomechanics written by Tijana T. Ivancevic and has been published by Nova Science Publishers this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012 with Biomechanics categories.
This book gives a comprehensive introduction into geometrical methods of modern biomechanics. This book is designed for a rigorous, one--semester course at the graduate level. The intended audience includes mechanical, control and biomedical engineers (with stronger mathematical background), mathematicians, physicists, computer scientists and mathematical biologists, as well as all researchers and technical professionals interested in modelling and control of biomechanical systems and humanoid robots.
Multi View Geometry Based Visual Perception And Control Of Robotic Systems
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Author : Jian Chen
language : en
Publisher: CRC Press
Release Date : 2018-06-14
Multi View Geometry Based Visual Perception And Control Of Robotic Systems written by Jian Chen and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-06-14 with Computers categories.
This book describes visual perception and control methods for robotic systems that need to interact with the environment. Multiple view geometry is utilized to extract low-dimensional geometric information from abundant and high-dimensional image information, making it convenient to develop general solutions for robot perception and control tasks. In this book, multiple view geometry is used for geometric modeling and scaled pose estimation. Then Lyapunov methods are applied to design stabilizing control laws in the presence of model uncertainties and multiple constraints.
Algebraic Geometry For Robotics And Control Theory
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Author : Laura Menini
language : en
Publisher: World Scientific
Release Date : 2021-09-02
Algebraic Geometry For Robotics And Control Theory written by Laura Menini and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-09-02 with Technology & Engineering categories.
The development of inexpensive and fast computers, coupled with the discovery of efficient algorithms for dealing with polynomial equations, has enabled exciting new applications of algebraic geometry and commutative algebra. Algebraic Geometry for Robotics and Control Theory shows how tools borrowed from these two fields can be efficiently employed to solve relevant problem arising in robotics and control theory.After a brief introduction to various algebraic objects and techniques, the book first covers a wide variety of topics concerning control theory, robotics, and their applications. Specifically this book shows how these computational and theoretical methods can be coupled with classical control techniques to: solve the inverse kinematics of robotic arms; design observers for nonlinear systems; solve systems of polynomial equalities and inequalities; plan the motion of mobile robots; analyze Boolean networks; solve (possibly, multi-objective) optimization problems; characterize the robustness of linear; time-invariant plants; and certify positivity of polynomials.
Algorithmic And Geometric Aspects Of Robotics Routledge Revivals
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Author : Jacob T. Schwartz
language : en
Publisher: Routledge
Release Date : 2016-07-01
Algorithmic And Geometric Aspects Of Robotics Routledge Revivals written by Jacob T. Schwartz and has been published by Routledge this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-07-01 with Computers categories.
First published in 1987, the seven chapters that comprise this book review contemporary work on the geometric side of robotics. The first chapter defines the fundamental goal of robotics in very broad terms and outlines a research agenda each of whose items constitutes a substantial area for further research. The second chapter presents recently developed techniques that have begun to address the geometric side of this research agenda and the third reviews several applied geometric ideas central to contemporary work on the problem of motion planning. The use of Voronoi diagrams, a theme opened in these chapters, is explored further later in the book. The fourth chapter develops a theme in computational geometry having obvious significance for the simplification of practical robotics problems — the approximation or decomposition of complex geometric objects into simple ones. The final chapters treat two examples of a class of geometric ‘reconstruction’ problem that have immediate application to computer-aided geometric design systems.
Geometric Methods And Applications
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Author : Jean Gallier
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Geometric Methods And Applications written by Jean Gallier and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Mathematics categories.
As an introduction to fundamental geometric concepts and tools needed for solving problems of a geometric nature using a computer, this book fills the gap between standard geometry books, which are primarily theoretical, and applied books on computer graphics, computer vision, or robotics that do not cover the underlying geometric concepts in detail. Gallier offers an introduction to affine, projective, computational, and Euclidean geometry, basics of differential geometry and Lie groups, and explores many of the practical applications of geometry. Some of these include computer vision, efficient communication, error correcting codes, cryptography, motion interpolation, and robot kinematics. This comprehensive text covers most of the geometric background needed for conducting research in computer graphics, geometric modeling, computer vision, and robotics and as such will be of interest to a wide audience including computer scientists, mathematicians, and engineers.
Handbook Of Geometric Computing
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Author : Eduardo Bayro Corrochano
language : en
Publisher: Springer Science & Business Media
Release Date : 2005-12-06
Handbook Of Geometric Computing written by Eduardo Bayro Corrochano and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2005-12-06 with Computers categories.
Many computer scientists, engineers, applied mathematicians, and physicists use geometry theory and geometric computing methods in the design of perception-action systems, intelligent autonomous systems, and man-machine interfaces. This handbook brings together the most recent advances in the application of geometric computing for building such systems, with contributions from leading experts in the important fields of neuroscience, neural networks, image processing, pattern recognition, computer vision, uncertainty in geometric computations, conformal computational geometry, computer graphics and visualization, medical imagery, geometry and robotics, and reaching and motion planning. For the first time, the various methods are presented in a comprehensive, unified manner. This handbook is highly recommended for postgraduate students and researchers working on applications such as automated learning; geometric and fuzzy reasoning; human-like artificial vision; tele-operation; space maneuvering; haptics; rescue robots; man-machine interfaces; tele-immersion; computer- and robotics-aided neurosurgery or orthopedics; the assembly and design of humanoids; and systems for metalevel reasoning.
Robots And Screw Theory
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Author : J. K. Davidson
language : en
Publisher: Oxford University Press
Release Date : 2004-03-25
Robots And Screw Theory written by J. K. Davidson and has been published by Oxford University Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004-03-25 with Technology & Engineering categories.
Robots and Screw Theory describes the mathematical foundations, especially geometric, underlying the motions and force-transfers in robots. The principles developed in the book are used in the control of robots and in the design of their major moving parts. The illustrative examples and the exercises in the book are taken principally from robotic machinery used for manufacturing and construction, but the principles apply equally well to miniature robotic devices and to those used in other industries. The comprehensive coverage of the screw and its geometry lead to reciprocal screw systems for statics and instantaneous kinematics. These screw systems are brought together in a unique way to show many cross-relationships between the force-systems that support a body equivalently to a kinematic serial connection of joints and links. No prior knowledge of screw theory is assumed. The reader is introduced to the screw with a simple planar example yet most of the book applies to robots that move three-dimensionally. Consequently, the book is suitable both as a text at the graduate-course level and as a reference book for the professional. Worked examples on every major topic and over 300 exercises clarify and reinforce the principles covered in the text. A chapter-length list of references gives the reader source-material and opportunities to pursue more fully topics contained in the text.