**Proceedings of Symposia in Applied Mathematics**

Volume: 41;
1990;
196 pp;
Hardcover

MSC: Primary 70;
Secondary 68; 93

Print ISBN: 978-0-8218-0163-5

Product Code: PSAPM/41

List Price: $69.00

Individual Member Price: $55.20

**Electronic ISBN: 978-0-8218-9256-5
Product Code: PSAPM/41.E**

List Price: $69.00

Individual Member Price: $55.20

# Robotics

Share this page *Edited by *
*Roger Brockett*

The central problem of robotics is the analysis and replication of
patterns of movement required to accomplish useful tasks. Physicists
have found that deeper examination of the physical world often reveals
inadequacies in the vocabulary and mathematics used to describe it; in
much the same way, roboticists have found it quite awkward to give
precise, succinct descriptions of effective movements using the syntax
and semantics in common use. What is needed to produce general
purpose robots is a more expressive means for discussing movement.
This volume focuses on some of the ways that mathematics can be used
to address problems in this area.

Focusing on some of the important mathematical questions arising in
the field of robotics, this book conveys a sense for the effectiveness
of mathematics in capturing the essence of robotics problems. In
addition, the book will make readers aware of the way in which
computer control interacts with geometry. The first four papers deal
with kinematics and control, relying on realistic models for kinematic
processes. The last two papers have more of the flavor of computer
science and are concerned with the symbolic descriptions of motion,
including the treatment of uncertainty.

The book is directed toward mathematically literate readers
interested in finding out about the questions that arise in robotics
and how mathematics can help answer them. A mathematical background
at the level of an undergraduate degree in mathematics and some
knowledge of basic mechanics is assumed.

#### Table of Contents

# Table of Contents

## Robotics

- Table of Contents vii8 free
- Preface ix10 free
- Some Mathematical Aspects of Robotics 112 free
- Manipulator Kinematics 2132
- Resolution of Kinematic Redundancy 4960
- Grasping and Manipulation using Multifingered Robot Hands 91102
- Planning and Executing Robot Assembly Strategies in the Presence of Uncertainty 129140
- Formal Languages for Motion Description and Map Making 181192
- Index 195206