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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. Key features: - Begins with a brief survey of basic notions in algebraic and differential geometry, Lie groups and Lie algebras, - Examines how, in a new chapter, Clifford algebra is relevant to robot kinematics and Euclidean geometry in 3D, -Introduces mathematical concepts and methods using examples from robotics, - Solves substantial problems in the design and control of robots via new methods, - Provides solutions to well-known enumerative problems in robot kinematics using intersection theory on the group of rigid body motions, - Extends dynamics, in another new chapter, to robots with end-effector constraints, which lead to equations of motion for parallel manipulators. 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.ISBN - 9788184893700
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Pages : 415
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