A Mathematical Introduction to Robotic Manipulation van Richard M. Murray, Zexiang Li and S. Shankar Sastry is an English-language textbook focused on the mathematical foundations of robotic manipulation. This title is intended for students and researchers in technical programs.
The book offers a thorough mathematical introduction to the kinematics, dynamics, and control of robot manipulators. At its core is the application of an elegant and geometry-oriented framework, including the product of exponentials formula for robot kinematics. This makes it possible to analyze complex robotic manipulation problems within a coherent model.
Key topics include open-chain manipulators, multi-finger robotic arms, dynamic models, control of internal forces, and the special properties of non-holonomic motions such as rolling contact. The book contains extensive examples and exercises, making it suitable both as a textbook for advanced robotics courses and as a reference work.
The content aligns with fields such as robotics, mathematical theory, and technology & engineering / robotics.