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Hardcover ISBN:  9780821801635 
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Hardcover ISBN:  9780821801635 
Product Code:  PSAPM/41 
List Price:  $125.00 
MAA Member Price:  $112.50 
AMS Member Price:  $100.00 
eBook ISBN:  9780821892565 
Product Code:  PSAPM/41.E 
List Price:  $99.00 
MAA Member Price:  $89.10 
AMS Member Price:  $79.20 
Hardcover ISBN:  9780821801635 
eBook ISBN:  9780821892565 
Product Code:  PSAPM/41.B 
List Price:  $224.00 $174.50 
MAA Member Price:  $201.60 $157.05 
AMS Member Price:  $179.20 $139.60 

Book DetailsProceedings of Symposia in Applied MathematicsVolume: 41; 1990; 196 ppMSC: Primary 70; Secondary 68; 93
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.
Readership 
Table of Contents

Articles

R. W. Brockett — Some mathematical aspects of robotics [ MR 1079563 ]

Madhusudan Raghavan — Manipulator kinematics [ MR 1079564 ]

J. Baillieul and D. P. Martin — Resolution of kinematic redundancy [ MR 1079565 ]

Richard M. Murray and S. Shankar Sastry — Grasping and manipulation using multifingered robot hands [ MR 1079566 ]

Bruce R. Donald — Planning and executing robot assembly strategies in the presence of uncertainty [ MR 1079567 ]

R. W. Brockett — Formal languages for motion description and map making [ MR 1079568 ]


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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.

Articles

R. W. Brockett — Some mathematical aspects of robotics [ MR 1079563 ]

Madhusudan Raghavan — Manipulator kinematics [ MR 1079564 ]

J. Baillieul and D. P. Martin — Resolution of kinematic redundancy [ MR 1079565 ]

Richard M. Murray and S. Shankar Sastry — Grasping and manipulation using multifingered robot hands [ MR 1079566 ]

Bruce R. Donald — Planning and executing robot assembly strategies in the presence of uncertainty [ MR 1079567 ]

R. W. Brockett — Formal languages for motion description and map making [ MR 1079568 ]