Geometrical Methods in Robotics

by J.M. Selig

Covering algebriac and differential geometry, the concept of Lie groups, and the relation of Lie groups to planar kinematics, line geometry and representation theory, this work deals with the application of these geometrical methods to robotics, in the areas of statics, dynamics, gripping solid objects, posture and screw systems.

269 pages, Hardcover

First published June 1, 1996