Geometric Fundamentals of Robotics 2nd Edition by J M Selig ISBN 0387208747 9780387208749 by Selig J.m. 9780387208749, 0387208747 instant download after payment.

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Product details:

ISBN 10: 0387208747 
ISBN 13: 9780387208749
Author: J M Selig

Geometric 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.

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

Geometric Fundamentals of Robotics 2nd Table of contents:

• Lie Groups

  • (Likely covers basic definitions, properties, and examples of Lie groups relevant to rigid body motions)

• Subgroups

  • (Focuses on important subgroups within Lie groups, particularly those related to specific types of motion)

• Lie Algebra

  • (Introduces the concept of Lie algebras as the "linearized" version of Lie groups, and their connection to velocities and twists in robotics)

• A Little Kinematics

  • (Introduces basic concepts of robot kinematics, likely building on the Lie group/algebra foundation)

• Line Geometry

  • (Explores the geometry of lines in 3D space, which is crucial for understanding screw theory and manipulator kinematics)

• Representation Theory

  • (Introduces the theory of group representations, with emphasis on the group of proper Euclidean motions)

• Screw Systems

  • (A deep dive into screw theory, which uses screws to represent rigid body velocities and forces/torques. This includes the Gibson Hunt classification.)

• Clifford Algebra

  • (A new chapter in the 2nd edition, exploring how Clifford algebra is relevant to robot kinematics and Euclidean geometry in 3D, particularly for the group of proper Euclidean motions)

• A Little More Kinematics

  • (Further development of kinematic concepts, possibly including inverse kinematics problems)

• The Study Quadric

  • (Explores this algebraic variety that contains the elements of the group of proper Euclidean motions, often related to Clifford algebra)

• Statics

  • (Applies the geometric framework to the statics of robots, including wrenches, forces, and torques)

• Dynamics

  • (Covers the dynamics of robots, possibly including Lagrangian and Newtonian approaches, and concepts like inertia properties and conjugate/principal screws)

• Constrained Dynamics

  • (Deals with the dynamics of robots operating under constraints, such as parallel manipulators)

• Differential Geometry

  • (Explores deeper applications of differential geometry, possibly including mobility of overconstrained mechanisms, geodesic paths for robot control, and hybrid control)

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Tags: J M Selig, Geometric, Fundamentals