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Geometric Algebra Applications Vol. II, 1 Ed.
◆Springer Yellow セール開催中！：2025年6月29日(日)ご注文分まで
※上記表示の販売価格は割引適用後の価格です 出版済み 3週間でお届けいたします。 Robot Modelling and Control Author: Bayro-Corrochano, Eduardo Publisher: Springer ISBN: 9783030349769 Cover: HARDCOVER Date: 2020年06月 DESCRIPTION This book presents a unified mathematical treatment of diverse problems in the general domain of robotics and associated fields using Clifford or geometric algebra. By addressing a wide spectrum of problems in a common language, it offers both fresh insights and new solutions that are useful to scientists and engineers working in areas related with robotics. It introduces non-specialists to Clifford and geometric algebra, and provides examples to help readers learn how to compute using geometric entities and geometric formulations. It also includes an in-depth study of applications of Lie group theory, Lie algebra, spinors and versors and the algebra of incidence using the universal geometric algebra generated by reciprocal null cones. Featuring a detailed study of kinematics, differential kinematics and dynamics using geometric algebra, the book also develops Euler Lagrangeand Hamiltonians equations for dynamics using conformal geometric algebra, and the recursive Newton-Euler using screw theory in the motor algebra framework. Further, it comprehensively explores robot modeling and nonlinear controllers, and discusses several applications in computer vision, graphics, neurocomputing, quantum computing, robotics and control engineering using the geometric algebra framework. The book also includes over 200 exercises and tips for the development of future computer software packages for extensive calculations in geometric algebra, and a entire section focusing on how to write the subroutines in C++, Matlab and Maple to carry out efficient geometric computations in the geometric algebra framework. Lastly, it shows how program code can be optimized for real-time computations. An essential resource for applied physicists, computer scientists, AI researchers, roboticists and mechanical and electrical engineers, the book clarifies and demonstrates the importance of geometric computing for building autonomous systems to advance cognitive systems research. TABLE OF CONTENTS Geometric Algebra for Modeling in Robotic Physics Fundamentals of Geometric Algebra 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 The Geometric Algebras G+6,0,2, G6,3, G+9,3, G+6,0,6 Programming Issues Interpolation, Kinematics, and Dynamics Rigid Motion Interpolation Robot Kinematics Robot Dynamics Robot Control Control of Robot Manipulators Robot Neurocontrol Robot Control and Tracking Applications I: Robot Vision, Quadrotor Rigid Motion Estimation Using Line Observations Tracker Endoscope Calibration and Body-Sensor Calibration Tracking, Grasping, and Object Manipulation 3D Maps, Navigation, and Relocalization Quadrotor Applications II: Medical Robotics Modeling and Registration of Medical Data Geometric Computing for Minimal Invasive Surgery
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