Lie Group Robotics

Autorentext

Jonghoon Park is Founder and Chief Executive Officer of Neuromeka Co., Ltd., a leading collaborative robot company in South Korea, and Adjunct Professor of Mechanical Engineering at Pohang University of Science and Technology (POSTECH). His interests include robot automation, collaborative robots, and intelligent robotic systems. He has played a pioneering role in the commercialization of collaborative robot technologies in South Korea.

Youngjin Choi is Professor of Robotics at Hanyang University, South Korea. His research focuses on robot control, nonlinear control theory, and mechanism design. He has served on the editorial boards of IEEE Transactions on Robotics, IEEE Robotics and Automation Letters, and Intelligent Service Robotics.

Wan Kyun Chung is Professor Emeritus of Mechanical Engineering at Pohang University of Science and Technology (POSTECH), South Korea. He has made significant contributions to the control of robots, nonlinear control, and Lie-group-based robotics. He is an IEEE Fellow, former Editor of the IEEE Transactions on Robotics, and former Editor-in-Chief of Intelligent Service Robotics.

Klappentext

Lie Group Robotics offers a comprehensive computational approach to robot kinematics, dynamics, and control, leveraging the geometry of ³, SO(3), and SE(3). Unlike traditional texts that treat Lie theory as abstract mathematics, this book transforms it into a practical tool, pairing geometric concepts with explicit, implementable formulas. Readers are guided seamlessly from theoretical insights to executable code, making it an essential resource for modern robotics. Key topics include exponential maps, trajectory interpolation, recursive dynamics, and control strategies tailored for industrial arms, drones, humanoids, and space robots.

The book spans the entire modeling-to-control pipeline, addressing floating-, jointed-, and fixed-base systems within a unified framework. It introduces innovative results, such as closed-form expressions for the differential of the exponential map and its derivative, and the Principle of Dynamical Balance, which enables efficient recursive algorithms for articulated systems. The unified control theory progresses from Lyapunov stability to advanced methods like nonlinear H and impedance control directly on SE(3). Extensive worked examples, MATLAB libraries, and online appendices ensure practical application and mastery of the material.

Targeting graduate students, researchers, and engineers, Lie Group Robotics bridges rigorous theory with field-tested solutions. Its computational methods underpin control software in commercial collaborative robots, offering a robust foundation for advancing robotics in industrial, aerospace, and autonomous systems markets.

Inhalt

Part I: Fundamentals 1. Why Lie Group Robotics 2. Single Rigid Body Motion on Lie Group Part II: Kinematics 3. Exponential Map on Lie Group 4. Kinematics of AMBS 5. Task Kinematics and Kinematic Control Part III: Dynamics 6 Composition of Dynamics of Articulated Multibody Systems 7 Computational Dynamics of Articulated Multibody Systems Part IV Control 8 Interpolations 9 Dynamic Control in Joint Space 10 Dynamic Control in Task Space