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Geometric Algebra Applications Vol. II
ISBN-13:
9783030349783
Veröffentl:
2020
Seiten:
600
Autor:
Eduardo Bayro-Corrochano
eBook Typ:
PDF
eBook Format:
EPUB
Kopierschutz:
1 - PDF Watermark
Sprache:
Englisch
Beschreibung:
-Includes a thorough study of kinematics, differential kinematics and dynamics using geometric algebra. The Euler Lagrange and Hamiltonians equations for dynamics are developed using conformal geometric algebra and the recursive Newton-Euler using screw theory in the motor algebra framework. A thorough study of robot modeling and nonlinear controllers.
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.
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