Preface | Abstract | Software | MLS Home |
Chapter 1. Introduction 1. Brief History 2. Multifingered Hands and Dextrous Manipulation 3. Outline of the Book 4. Bibliography Chapter 2. Rigid Body Motion 1. Rigid Body Transformations 2. Rotational Motion in R^3 3. Rigid Motion in R^3 4. Velocity of a Rigid Body 5. Wrenches and Reciprocal Screws 6. Summary 7. Bibliography 8. Exercises Chapter 3. Manipulator Kinematics 1. Introduction 2. Forward Kinematics 3. Inverse Kinematics 4. The Manipulator Jacobian 5. Redundant and Parallel Manipulators 6. Summary 7. Bibliography 8. Exercises Chapter 4. Robot Dynamics and Control 1. Introduction 2. Lagrange's Equations 3. Dynamics for an Open-Chain Manipulator 4. Lyapunov Stability Theory 5. Position Control and Trajectory Tracking 6. Control of Constrained Manipulators 7. Summary 8. Bibliography 9. Exercises Chapter 5. Multifingered Hand Kinematics 1. Introduction to Grasping 2. Grasp Statics 3. Force-Closure 4. Grasp Planning 5. Grasp constraints 6. Rolling contact kinematics 7. Summary 8. Bibliography 9. Exercises Chapter 6. Hand Dynamics and Control 1. Lagrange's Equations with Constraints 2. Robot Hand Dynamics 3. Redundant and Non-Manipulable Robot Systems 4. Kinematics and statics of tendon actuation 5. Control of Robot Hands 6. Summary 7. Bibliography 8. Exercises Chapter 7. Nonholonomic Behavior in Robotic Systems 1. Introduction 2. Controllability and the Frobenius theorem 3. Examples of Nonholonomic Systems 4. Structure of Nonholonomic Systems 5. Summary 6. Bibliography 7. Exercises Chapter 8. Nonholonomic Motion Planning 1. Introduction 2. Steering Model Control Systems Using Sinusoids 3. General Methods for Steering 4. Dynamic Finger Repositioning 5. Summary 6. Bibliography 7. Exercises Chapter 9. Future Prospects 1. Robots in Hazardous Environments 2. Medical Applications for Multifingered Hands: Millirobotics 3. Robots on a Small Scale: Microrobotics Appendix A. Lie Groups and Robot Kinematics 1. Differentiable Manifolds 2. Lie Groups 3. The Geometry of the Euclidean Group Appendix B. A Mathematica Package for Performing Screw Calculus
Richard Murray (murray@cds.caltech.edu)
Last modified: 05/15/99