A Mathematical Introduction to Robotic Manipulation by Richard M. Murray, Zexiang Li and S. Shankar Sastry is an English-language textbook aimed at robotics. This reference work covers the mathematical foundations of robotic manipulation and is suitable for students in higher education.
The book provides a clear introduction to the kinematics, dynamics, and control of robotic manipulators. The focus is on the product of exponential formulas, which is used to analyze the motion and control of open-chain manipulators and multi-fingered robotic arms. In addition, internal forces, internal motions, and the non-holonomic properties of rolling contacts are discussed.
With a strong emphasis on the geometry of robot motion, this mathematical introduction enables robotics engineering professionals and students to understand and solve complex problems within a coherent framework.
This textbook aligns with fields such as Electrical Engineering and Technical Design and is a valuable resource for advanced technology and engineering programs.