Table of Contents (first edition)

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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