A Mathematical Introduction to Robotic Manipulation
by Richard M. Murray, Zexiang Li, S. Shankar Sastry
Publisher: CRC Press 1994
Number of pages: 474
A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework.
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