Geometric Algebra Applications Vol. II: Robot Modelling and Control [1st ed.] 9783030349769, 9783030349783

This book presents a unified mathematical treatment of diverse problems in the general domain of robotics and associate

219 77 991KB

English Pages XXIX, 600 [609] Year 2020

Table of contents :
Front Matter ....Pages i-xxix
Geometric Algebra for Modeling in Robotic Physics (Eduardo Bayro-Corrochano)....Pages 1-17
Front Matter ....Pages 19-19
Introduction to Geometric Algebra (Eduardo Bayro-Corrochano)....Pages 21-54
Lie Algebras, Lie Groups, and Algebra of Incidence (Eduardo Bayro-Corrochano)....Pages 55-123
2D, 3D, and 4D Geometric Algebras (Eduardo Bayro-Corrochano)....Pages 125-152
Kinematics of the 2D and 3D Spaces (Eduardo Bayro-Corrochano)....Pages 153-179
Conformal Geometric Algebra (Eduardo Bayro-Corrochano)....Pages 181-217
The Geometric Algebras \(G_{6,0,2}^+\), \(G_{6,3}\), \(G_{9,3}^+\), \(G_{6,0,6}^+\) (Eduardo Bayro-Corrochano)....Pages 219-242
Programming Issues (Eduardo Bayro-Corrochano)....Pages 243-252
Front Matter ....Pages 253-253
Rigid Motion Interpolation (Eduardo Bayro-Corrochano)....Pages 255-267
Robot Kinematics (Eduardo Bayro-Corrochano)....Pages 269-295
Robot Dynamics (Eduardo Bayro-Corrochano)....Pages 297-357
Front Matter ....Pages 359-359
Control of Robot Manipulators (Eduardo Bayro-Corrochano)....Pages 361-377
Robot Neurocontrol (Eduardo Bayro-Corrochano)....Pages 379-412
Robot Control and Tracking (Eduardo Bayro-Corrochano)....Pages 413-427
Front Matter ....Pages 429-429
Rigid Motion Estimation Using Line Observations (Eduardo Bayro-Corrochano)....Pages 431-462
Tracker Endoscope Calibration and Body-Sensor Calibration (Eduardo Bayro-Corrochano)....Pages 463-476
Tracking, Grasping, and Object Manipulation (Eduardo Bayro-Corrochano)....Pages 477-505
3D Maps, Navigation, and Relocalization (Eduardo Bayro-Corrochano)....Pages 507-530
Quadrotor (Eduardo Bayro-Corrochano)....Pages 531-543
Front Matter ....Pages 545-545
Modeling and Registration of Medical Data (Eduardo Bayro-Corrochano)....Pages 547-563
Geometric Computing for Minimal Invasive Surgery (Eduardo Bayro-Corrochano)....Pages 565-583
Back Matter ....Pages 585-600

Geometric Algebra Applications Vol. II: Robot Modelling and Control [1st ed.]
9783030349769, 9783030349783

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