Lecture 1. Groups / J. M. Selig -- Lecture 2. Subgroups and representations / J. M. Selig -- Lecture 3. Lie algebras / J. M. Selig -- Lecture 4. Design of new mechanisms via the displacement subgroups / J. M. Herve -- Lecture 5. Kinematics from the singular viewpoint / C. G. Gibson -- Lecture 6. Singularity analysis of serial robot-manipulators / A. Karger -- Lecture 7. Variational problems associated with kinematic chains / R. Brockett -- Lecture 8. Computational differential algebra / B. Mishra.

    This book is a collection of talks presented at the 1998 IEEE International Conference on Robotics and Automation. Broadly, the meeting discussed the application of modern geometrical methods to problems in robotics. There are now a few textbooks in this area and more papers in the literature. The aim of this book is to introduce these ideas, their simplicity and power, to a wider audience. The first three chapters give an introduction to the Lie group and Lie algebras. The focus is on the group of rigid body transformations in space, namely the Lie group which is fundamental to robotics. The following chapters provide an overview of some of the most up-to-date work in the field of geometrical methods in robotics and have been written by some of the leading researchers in the field. The applications addressed cover the design of robot kinematics, the analysis of singularities in robots and mechanisms, and a geometric view of some computational issues


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    Title :

    Geometrical foundations of robotics



    Conference:

    IEEE International Conference on Robotics and Automation IEEE International Conference on Robotics and Automation (Leuven, Belgium) : 1998


    Publication date :

    2000


    Size :

    1 Online-Ressource (xi, 152 p)


    Remarks:

    ill
    Campusweiter Zugriff (Universität Hannover) - Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Keine Weitergabe an Dritte. Kein systematisches Downloaden durch Robots.
    Includes bibliographical references and index



    Type of media :

    Conference Proceedings


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629.892



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