Geometric Algebra Applications Vol. II : Robot Modelling and Control. 1st ed. 2020
- 種類:
- 電子ブック
- 責任表示:
- by Eduardo Bayro-Corrochano
- 出版情報:
- Cham : Springer International Publishing : Imprint: Springer, 2020
- 著者名:
- ISBN:
- 9783030349783 [3030349780]
- 注記:
- Geometric Algebra for Modeling in Robotic Physics -- Introduction to Geometric Algebra -- Lie Algebras, Lie Groups and Algebra of Incidence -- 2D, 3D and 4D Geometric Algebras -- Kinematics of the 2D and 3D Spaces -- Conformal Geometric Algebra -- Programming Issues -- Rigid Motion Interpolation -- Robot Kinematics -- Robot Dynamics -- Control of Robot Manipulators -- Robot Neurocontrol -- Robot Control and Tracking -- Rigid Motion Estimation Using Line Observations -- Tracker Endoscope Calibration and Body-Sensors Calibration -- Tracking, Grasping and Object Manipulation -- 3D Maps, Navigation and Relocalization -- Quadrotor -- Modeling and Registration of Medical Data -- Geometric Computing for Minimal Invasive Surgery.
The goal of Geometric Algebra Applications Vol. II: Robot Modeling and Control is to present a unified mathematical treatment of diverse problems in the general domain of robotics and associated fields using Clifford, or geometric algebra. By treating a wide spectrum of problems in a common language, this Volume II offers both new insights and new solutions that should be useful to scientists, and engineers working in different areas related with robotics. Topics and features -Introduces a no specialists to Clifford, or geometric, algebra and by examples encourages the reader to learn to compute using geometric entities and geometric formulations. -A study in depth for applications of Lie group theory, Lie algebra, spinors and versors and the algebra of incidence using the universal geometric algebra generated by reciprocal null cones. -Includes a thorough study of kinematics, differential kinematics and dynamics using geometric algebra. The Euler Lagrange and Hamiltonians equations for dynamics are developed - ローカル注記:
- 学内専用E-BOOKS (local access only)
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