Geometrical Foundations Of Robotics

Download or read book Geometrical Foundations of Robotics written by J M Selig and published by World Scientific. This book was released on 2000-03-24 with total page 164 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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. Contents:Groups (J M Selig)Subgroups and Representations (J M Selig)Lie Algebras (J M Selig)Design of New Mechanisms via the Displacement Subgroups (J M Hervé)Kinematics from the Singular Viewpoint (G G Gibson)Singularity Analysis of Serial Robot-Manipulators (A Karger)Variational Problems Associated with Kinematic Chains (R Brockett)Computational Differential Algebra (B Mishra) Readership: Researchers, academics and professionals in robotics. Keywords:Robotics;Geometry;Lie Groups;Lie Algebra;Rigid Body Motions;Mechanisms;Singularities;Harmonic Maps;Differential Algebra