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Sliding-Rolling Contact and In-Hand Manipulation

by Lei Cui , Jian S. Dai
Save 17% Save 17%
Current price ₹9,053.00
Original price ₹10,864.00
Original price ₹10,864.00
Original price ₹10,864.00
(-17%)
₹9,053.00
Current price ₹9,053.00

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Book cover type: Hardcover
  • ISBN13: 9781786348425
  • Binding: Hardcover
  • Subject: N/A
  • Publisher: World Scientific Publishing Europe Ltd
  • Publisher Imprint: World Scientific Publishing Europe Ltd
  • Publication Date:
  • Pages: 224
  • Original Price: USD 88.0
  • Language: English
  • Edition: N/A
  • Item Weight: 468 grams
  • BISAC Subject(s): Robotics

Robots interact with the world through curves and surfaces -- the subjects of study in differential geometry. This book applies the moving-frame method, developed extensively by �lie Cartan, and the adjoint approach, conceived by Ernesto Ces�ro, to study the kinematics of two surfaces subject to rolling contact and sliding-rolling contact to demonstrate the applications in robotic in-hand manipulation.Firstly, it explores two surfaces, and the geometry of both surfaces comes into play. Secondly, the book focuses on the geometry of the two surfaces within the encompassing space (extrinsic) rather than within the surfaces (intrinsic) because the book is concerned with the kinematics of one surface in three-dimensional Euclidean space -- the real world. The book then concludes by applying this approach in robotic in-hand manipulation in the last chapter.

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