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Geometric Algebra Applications Vol. II

Robot Modelling and Control

Authors: Bayro-Corrochano, Eduardo

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  • Offers in a compact and complete way the theory and methods to apply Geometric Algebra to Robotics
  • Introduces the basics of geometric algebra to specialists and non- specialists in a gentle and comprehensive manner using examples and abundant figures and simulation results
  • Step by step using examples encourages readers to learn how to model, design algorithms for modern applications in the area of robotics
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  • ISBN 978-3-030-34978-3
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About this book

This book presents a unified mathematical treatment of diverse problems in the

general domain of robotics and associated fields using Clifford or geometric alge-

bra. 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 ex-

amples to help readers learn how to compute using geometric entities and geomet-

ric 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 Lagrange and Hamiltoni-

ans 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 com-

puting, 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 demon-

strates the importance of geometric computing for building autonomous systems

to advance cognitive systems research.


Table of contents (21 chapters)

Table of contents (21 chapters)

Buy this book

eBook $129.00
price for USA in USD
  • ISBN 978-3-030-34978-3
  • Digitally watermarked, DRM-free
  • Included format: PDF, EPUB
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $169.99
price for USA in USD
  • ISBN 978-3-030-34976-9
  • Free shipping for individuals worldwide
  • Immediate ebook access, if available*, with your print order
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Geometric Algebra Applications Vol. II
Book Subtitle
Robot Modelling and Control
Authors
Copyright
2020
Publisher
Springer International Publishing
Copyright Holder
Springer Nature Switzerland AG
eBook ISBN
978-3-030-34978-3
DOI
10.1007/978-3-030-34978-3
Hardcover ISBN
978-3-030-34976-9
Edition Number
1
Number of Pages
XXIX, 600
Number of Illustrations
89 b/w illustrations, 167 illustrations in colour
Topics

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