Geometric Fundamentals of Robotics

  • J. M. Selig

Part of the Monographs in Computer Science book series (MCS)

Table of contents

  1. Front Matter
    Pages i-xvi
  2. Pages 1-9
  3. Pages 11-29
  4. Pages 31-49
  5. Pages 51-83
  6. Pages 85-111
  7. Pages 113-138
  8. Pages 139-161
  9. Pages 163-195
  10. Pages 197-220
  11. Pages 221-240
  12. Pages 241-269
  13. Pages 271-285
  14. Pages 287-319
  15. Pages 321-347
  16. Pages 349-372
  17. Back Matter
    Pages 373-398

About this book


Geometric Fundamentals of Robotics provides an elegant introduction to the geometric concepts that are important to applications in robotics. This second edition is still unique in providing a deep understanding of the subject: rather than focusing on computational results in kinematics and robotics, it includes significant state-of-the art material that reflects important advances in the field, connecting robotics back to mathematical fundamentals in group theory and geometry.

Key features:

* Begins with a brief survey of basic notions in algebraic and differential geometry, Lie groups and Lie algebras

* Examines how, in a new chapter, Clifford algebra is relevant to robot kinematics and Euclidean geometry in 3D

* Introduces mathematical concepts and methods using examples from robotics

* Solves substantial problems in the design and control of robots via new methods

* Provides solutions to well-known enumerative problems in robot kinematics using intersection theory on the group of rigid body motions

* Extends dynamics, in another new chapter, to robots with end-effector constraints, which lead to equations of motion for parallel manipulators

Geometric Fundamentals of Robotics serves a wide audience of graduate students as well as researchers in a variety of areas, notably mechanical engineering, computer science, and applied mathematics. It is also an invaluable reference text.


From a Review of the First Edition:

"The majority of textbooks dealing with this subject cover various topics in kinematics, dynamics, control, sensing, and planning for robot manipulators. The distinguishing feature of this book is that it introduces mathematical tools, especially geometric ones, for solving problems in robotics. In particular, Lie groups and allied algebraic and geometric concepts are presented in a comprehensive manner to an audience interested in robotics. The aim of the author is to show the power and elegance of these methods as they apply to problems in robotics."



computer computer science kinematics mechanical engineering robot robotics sensing

Authors and affiliations

  • J. M. Selig
    • 1
  1. 1.Faculty of Business, Computing and Information ManagementLondon South Bank UniversityLondonUK

Bibliographic information

  • DOI
  • Copyright Information Springer Science+Business Media Inc. 2005
  • Publisher Name Springer, New York, NY
  • eBook Packages Computer Science
  • Print ISBN 978-0-387-20874-9
  • Online ISBN 978-0-387-27274-0
  • Series Print ISSN 0172-603X
  • Buy this book on publisher's site
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