Geometric Fundamentals Of Robotics, 2E
Author: Selig
Publisher:
Published: 2009-09-01
Total Pages: 415
ISBN-13: 9788184893700
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Geometrical Methods in Robotics
Author: J.M. Selig
Publisher: Springer Science & Business Media
Published: 2013-03-09
Total Pages: 273
ISBN-13: 1475724845
DOWNLOAD EBOOK →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.
Geometric Fundamentals of Robotics
Author: J.M. Selig
Publisher: Springer Science & Business Media
Published: 2007-12-13
Total Pages: 402
ISBN-13: 0387272747
DOWNLOAD EBOOK →* 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
Geometrical Foundations of Robotics
Author: J. M. Selig
Publisher: World Scientific
Published: 2000
Total Pages: 166
ISBN-13: 9810241135
DOWNLOAD EBOOK →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.
Robotics, Vision and Control
Author: Peter Corke
Publisher: Springer
Published: 2011-09-05
Total Pages: 572
ISBN-13: 364220144X
DOWNLOAD EBOOK →The author has maintained two open-source MATLAB Toolboxes for more than 10 years: one for robotics and one for vision. The key strength of the Toolboxes provide a set of tools that allow the user to work with real problems, not trivial examples. For the student the book makes the algorithms accessible, the Toolbox code can be read to gain understanding, and the examples illustrate how it can be used —instant gratification in just a couple of lines of MATLAB code. The code can also be the starting point for new work, for researchers or students, by writing programs based on Toolbox functions, or modifying the Toolbox code itself. The purpose of this book is to expand on the tutorial material provided with the toolboxes, add many more examples, and to weave this into a narrative that covers robotics and computer vision separately and together. The author shows how complex problems can be decomposed and solved using just a few simple lines of code, and hopefully to inspire up and coming researchers. The topics covered are guided by the real problems observed over many years as a practitioner of both robotics and computer vision. It is written in a light but informative style, it is easy to read and absorb, and includes a lot of Matlab examples and figures. The book is a real walk through the fundamentals of robot kinematics, dynamics and joint level control, then camera models, image processing, feature extraction and epipolar geometry, and bring it all together in a visual servo system. Additional material is provided at http://www.petercorke.com/RVC
Robotics, Vision and Control
Author: Peter Corke
Publisher: Springer Nature
Published: 2023-05-09
Total Pages: 836
ISBN-13: 3031064690
DOWNLOAD EBOOK →This textbook provides a comprehensive, but tutorial, introduction to robotics, computer vision, and control. It is written in a light but informative conversational style, weaving text, figures, mathematics, and lines of code into a narrative that covers robotics and computer vision—separately, and together as robotic vision. Over 1600 code examples show how complex problems can be decomposed and solved using just a few simple lines of code. This edition is based on Python and is accompanied by fully open-source Python-based Toolboxes for robotics and machine vision. The new Toolboxes enable the reader to easily bring the algorithmic concepts into practice and work with real, non-trivial, problems on a broad range of computing platforms. For the beginning student the book makes the algorithms accessible, the Toolbox code can be read to gain understanding, and the examples illustrate how it can be used. The code can also be the starting point for new work, for practitioners, students, or researchers, by writing programs based on Toolbox functions, or modifying the Toolbox code itself.
Automatic Control Systems/Robotics II Essentials
Author:
Publisher: Research & Education Assoc.
Published:
Total Pages: 98
ISBN-13: 9780738670133
DOWNLOAD EBOOK →REA’s Essentials provide quick and easy access to critical information in a variety of different fields, ranging from the most basic to the most advanced. As its name implies, these concise, comprehensive study guides summarize the essentials of the field covered. Essentials are helpful when preparing for exams, doing homework and will remain a lasting reference source for students, teachers, and professionals. Automatic Control Systems/Robotics II includes system analysis in the frequency domain, Nyquist stability criterion, performance evaluation of a feedback control system in the frequency-domain, system stabilization, frequency-response plots of cascade compensated systems, feedback compensation(parallel compensation), and system simulations.
Fundamentals of Robotics
Author: David Ardayfio
Publisher: CRC Press
Published: 1987-05-29
Total Pages: 450
ISBN-13: 9780824774400
DOWNLOAD EBOOK →Fundamentals of Robotics presents the basic concepts of robots to engineering and technology students and to practicing engineers who want to grasp the fundamentals in the growing field of robotics.
Fundamentals of Robotic Mechanical Systems
Author: Jorge Angeles
Publisher: Springer
Published: 2013-03-09
Total Pages: 528
ISBN-13: 1475727089
DOWNLOAD EBOOK →Mechanical engineering, an engineering discipline borne of the needs of the industrial revolution, is once again asked to do its substantial share in the call for industrial renewal. The general call is urgent as we face profound is sues of productivity and competitiveness that require engineering solutions, among others. The Mechanical Engineering Series features graduate texts and research monographs intended to address the need for information in contemporary areas of mechanical engineering. The series is conceived as a comprehensive one that covers a broad range of concentrations important to mechanical engineering graduate education and research. We are fortunate to have a distinguished rost er of consulting editors on the advisory board, each an expert in one the areas of concentra tion. The names of the consulting editors are listed on the next page of this volume. The areas of concentration are: applied mechanics; biome chan ics; computational mechanics; dynamic systems and control; energetics; mechanics of materials; processing; thermal science; and tribology.
Heat Transfer II Essentials
Author: The Editors of REA
Publisher: Research & Education Assoc.
Published: 2013-01-01
Total Pages: 82
ISBN-13: 0738672491
DOWNLOAD EBOOK →REA’s Essentials provide quick and easy access to critical information in a variety of different fields, ranging from the most basic to the most advanced. As its name implies, these concise, comprehensive study guides summarize the essentials of the field covered. Essentials are helpful when preparing for exams, doing homework and will remain a lasting reference source for students, teachers, and professionals. Heat Transfer II reviews correlations for forced convection, free convection, heat exchangers, radiation heat transfer, and boiling and condensation.
