Index of MLS examples

Index of MLS examples

Mathematica source code is available for the following examples:

Chapter 2

Example 2.1 Rotation about a line
Example 2.2 Twist coordinates for rotation about an axis
Example 2.3 (no title)
Example 2.4 Rotational motion of a one degree of freedom manipulator
Example 2.5 Twist coordinates for rotation about an axis
Example 2.6 Velocity of a two-link mechanism

Chapter 3

Example 3.1 SCARA forward kinematics
Example 3.2 Elbow forward kinematics
Example 3.3 SCARA kinematics with alternate base frame
Example 3.8 Jacobian for a SCARA robot
Example 3.9 Jacobian for the Stanford arm
Example 3.10 End-effector forces for a SCARA robot
Example 3.17 Self-motion manifold for a planar manipulator
Section 5.3 Four-bar linkage (kinematics)

Chapter 4

Example 4.1 Dynamics of a spherical pendulum
Section 2.3 Dynamics of a two-link planar robot
Example 4.3 Dynamics of a three-link manipulator
Example 4.4 Dynamics of an idealized SCARA manipulator
Example 4.8 Comparison of joint space and workspace controllers
Section 6.3 Dynamics of a planar manipulator moving in a slot

Chapter 5

Section 5.3 Two SCARA fingers grasping a box (kinematics)

Chapter 6

Example 6.1 Dynamics of an idealized planar pendulum

Chapter 7

Example 7.10 Kinematic car
Example 7.6 Fingertip rolling on an object
Example 7.2 Hopping robot in flight
Example 7.3 Planar space robot
Example 7.4 Disk rolling on a plane
Example 7.5 Kinematic car
Example 7.6 Fingertip rolling on an object
Example 7.8 Planar space robot
Example 7.9 Disk rolling on a plane

Richard Murray (murray@indra.caltech.edu)

Last modified: Sat May 15 17:25:12 1999