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A Mathematical Introduction to Robotic Manipulation
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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.The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-...