Geometrical methods in robotics:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
New York [u.a.]
Springer
1996
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| Schriftenreihe: | Monographs in computer science
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | XIII, 269 S. graph. Darst. |
| ISBN: | 0387947280 |
Internformat
MARC
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| 245 | 1 | 0 | |a Geometrical methods in robotics |c J. M. Selig |
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Datensatz im Suchindex
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|---|---|
| adam_text | J.M. SELIG GEOMETRICAL METHODS IN ROBOTICS WITH 18 FIGURES SPRINGER
CONTENTS PREFACE VII 1 INTRODUCTION 1 1.1 ROBOTS AND MECHANISMS 1 1.2
ALGEBRAIC GEOMETRY 3 1.3 DIFFERENTIAL GEOMETRY 5 2 LIE GROUPS 9 2.1
DEFINITIONS AND EXAMPLES 9 2.2 MORE EXAMPLES - MATRIX GROUPS 12 2.3
HOMOMORPHISMS 16 2.4 ACTIONS AND PRODUCTS 18 2.5 THE PROPER EUCLIDEAN
GROUP 20 3 SUBGROUPS 25 3.1 THE HOMOMORPHISM THEOREMS 25 3.2 QUOTIENTS
AND NORMAL SUBGROUPS 27 3.3 GROUP ACTIONS AGAIN 29 3.4 MATRIX NORMAL
FORMS 30 3.5 SUBGROUPS OF SE(3) 34 3.6 REULEAUX S LOWER PAIRS 36 3.7
ROBOT KINEMATICS 38 4 LIE ALGEBRA 41 4.1 TANGENT VECTORS 41 4.2 THE
ADJOINT REPRESENTATION 43 4.3 COMMUTATORS 45 4.4 THE EXPONENTIAL MAPPING
49 4.5 ROBOT JACOBIANS 52 4.6 SUBALGEBRAS, HOMOMORPHISMS AND IDEALS 54
4.7 THE KILLING FORM 57 4.8 THE CAMPBELL-BAKER-HAUSDORFF FORMULA 58 5 A
LITTLE KINEMATICS 61 5.1 INVERSE KINEMATICS FOR 3-R WRISTS 61 5.2
INVERSE KINEMATICS FOR 3-R ROBOTS 64 5.3 KINEMATICS OF PLANAR MOTION 68
5.4 THE PLANAR 4-BAR 77 XI XII CONTENTS 6 LINE GEOMETRY 81 6.1 LINES IN
THREE DIMENSIONS 81 6.2 PLIICKER COORDINATES 83 6.3 THE KLEIN QUADRIC 85
6.4 THE ACTION OF THE EUCLIDEAN GROUP 86 6.5 RULED SURFACES - THE
REGULUS 90 6.6 THE CYLINDROID 93 6.7 LINE COMPLEXES 95 6.8 GRASSMANNIANS
98 7 REPRESENTATION THEORY 101 7.1 DEFINITIONS 101 7.2 COMBINING
REPRESENTATIONS 103 7.3 REPRESENTATIONS OF 50(3) . 108 7.4 SO(3)
PLETHYISM ILL 7.5 REPRESENTATIONS OF SE (3) 113 7.6 THE PRINCIPLE OF
TRANSFERENCE 118 8 SCREW SYSTEMS 123 8.1 GENERALITIES 123 8.2 2-SYSTEMS
126 8.3 3-SYSTEMS 133 8.4 IDENTIFICATION OF SCREW SYSTEMS 140 8.5
OPERATIONS ON SCREW SYSTEMS 147 9 CLIFFORD ALGEBRA 149 9.1 GEOMETRIC
ALGEBRA 149 9.2 CLIFFORD ALGEBRA FOR THE EUCLIDEAN GROUP 156 9.3
CLIFFORD S BIQUATERNIONS 159 9.4 GEOMETRY OF RULED SURFACES 164 10 THE
STUDY QUADRIC 171 10.1 STUDY S SOMA 171 10.2 LINEAR SUBSPACES 174 10.3
PARTIAL FLAGS AND PROJECTIONS 179 10.4 INTERSECTION THEORY 183 11
STATICS 193 11.1 CO-SCREWS 193 11.2 FORCES, TORQUES AND WRENCHES . 194
11.3 WRIST FORCE SENSOR 196 11.4 WRENCH AT THE END-EFFECTOR 197 11.5
GRIPPING 200 11.6 FRICTION 205 CONTENTS XIII 12 DYNAMICS 209 12.1
MOMENTUM AND INERTIA 209 12.2 ROBOT EQUATIONS OF MOTION 213 12.3
RECURSIVE FORMULATION 218 12.4 LAGRANGIAN DYNAMICS OF ROBOTS 221 12.5
DECOUPLING BY DESIGN 226 12.6 HAMILTONIAN DYNAMICS OF ROBOTS 228 13
DIFFERENTIAL GEOMETRY 233 13.1 METRICS, CONNECTIONS AND GEODESIES 233
13.2 MOBILITY OF OVERCONSTRAINED MECHANISMS 238 13.3 CONTROLLING ROBOTS
ALONG HELICAL TRAJECTORIES 243 13.4 DECOUPLING BY COORDINATE
TRANSFORMATION 246 BIBLIOGRAPHY 251 INDEX 257
|
| any_adam_object | 1 |
| author | Selig, J. M. |
| author_facet | Selig, J. M. |
| author_role | aut |
| author_sort | Selig, J. M. |
| author_variant | j m s jm jms |
| building | Verbundindex |
| bvnumber | BV010909522 |
| classification_rvk | SK 990 |
| classification_tum | DAT 815f |
| ctrlnum | (OCoLC)300369545 (DE-599)BVBBV010909522 |
| dewey-full | 629.892 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.892 |
| dewey-search | 629.892 |
| dewey-sort | 3629.892 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Informatik Mathematik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| id | DE-604.BV010909522 |
| illustrated | Illustrated |
| indexdate | 2024-07-09T18:00:58Z |
| institution | BVB |
| isbn | 0387947280 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-007297609 |
| oclc_num | 300369545 |
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| physical | XIII, 269 S. graph. Darst. |
| publishDate | 1996 |
| publishDateSearch | 1996 |
| publishDateSort | 1996 |
| publisher | Springer |
| record_format | marc |
| series2 | Monographs in computer science |
| spelling | Selig, J. M. Verfasser aut Geometrical methods in robotics J. M. Selig New York [u.a.] Springer 1996 XIII, 269 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Monographs in computer science Géométrie ram Lie, Groupes de ram Robotique ram Lie-Gruppe (DE-588)4035695-4 gnd rswk-swf Geometrie (DE-588)4020236-7 gnd rswk-swf Robotik (DE-588)4261462-4 gnd rswk-swf Algebraische Geometrie (DE-588)4001161-6 gnd rswk-swf Differentialgeometrie (DE-588)4012248-7 gnd rswk-swf Robotik (DE-588)4261462-4 s Geometrie (DE-588)4020236-7 s DE-604 Algebraische Geometrie (DE-588)4001161-6 s Differentialgeometrie (DE-588)4012248-7 s Lie-Gruppe (DE-588)4035695-4 s GBV Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=007297609&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Selig, J. M. Geometrical methods in robotics Géométrie ram Lie, Groupes de ram Robotique ram Lie-Gruppe (DE-588)4035695-4 gnd Geometrie (DE-588)4020236-7 gnd Robotik (DE-588)4261462-4 gnd Algebraische Geometrie (DE-588)4001161-6 gnd Differentialgeometrie (DE-588)4012248-7 gnd |
| subject_GND | (DE-588)4035695-4 (DE-588)4020236-7 (DE-588)4261462-4 (DE-588)4001161-6 (DE-588)4012248-7 |
| title | Geometrical methods in robotics |
| title_auth | Geometrical methods in robotics |
| title_exact_search | Geometrical methods in robotics |
| title_full | Geometrical methods in robotics J. M. Selig |
| title_fullStr | Geometrical methods in robotics J. M. Selig |
| title_full_unstemmed | Geometrical methods in robotics J. M. Selig |
| title_short | Geometrical methods in robotics |
| title_sort | geometrical methods in robotics |
| topic | Géométrie ram Lie, Groupes de ram Robotique ram Lie-Gruppe (DE-588)4035695-4 gnd Geometrie (DE-588)4020236-7 gnd Robotik (DE-588)4261462-4 gnd Algebraische Geometrie (DE-588)4001161-6 gnd Differentialgeometrie (DE-588)4012248-7 gnd |
| topic_facet | Géométrie Lie, Groupes de Robotique Lie-Gruppe Geometrie Robotik Algebraische Geometrie Differentialgeometrie |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=007297609&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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