Welcome to the MLS archive. This archive contains information about the book A Mathematical Introduction to Robotic Manipulation by R. M. Murray, Z. X. Li, and S. S. Sastry (CRC Press, 1994).

• Abstract: short description of the book plus ordering information
• Table of Contents: complete table of contents for the book
• Preface: information on what the book is about and who its for
• Software: Archive of MLS software.
• Errata:
  • Errata sheet: latest list of known errors (PDF file)
  • Corrected proof for the PD controller in Section 5 of Chapter 4.
  • Error report form: forms-based error reporting. Or send e-mail to murray@indra.caltech.edu.
• Anonymous ftp archive: another way of getting at this information

Richard Murray (murray@cds.caltech.edu)
Last modified: 06/12/99