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. The book 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.

Klappentext

• 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

Inhalt

• Preface * Introduction * Lie 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 * References * Index