# Difference between revisions of "Second edition"

(Created page with '<table width="100%"> <tr><td align=center> <font color='blue' size='+2'>A Geometric Introduction to Robotics and Manipulation</font></td></tr> <tr><td align=center height="40"><f…') |
|||

Line 6: | Line 6: | ||

</table> __NOTOC__ | </table> __NOTOC__ | ||

− | This page contains information on the second edition of {{MLS title}}. | + | This page contains information on the second edition of {{MLS title}}. This book is currently being written and is expected to be available from CRC Press in 2012. |

+ | |||

+ | === Table of Contents === | ||

+ | |||

+ | New sections (or those containing substantial new material) are marked in <font color=blue>blue</font>. Tentative sections for inclusion in the second edition are marked in <font color=red>red</font>. | ||

+ | |||

+ | Chapter 1. Introduction | ||

+ | # <font color=blue>Brief History</font> | ||

+ | # Outline of the Book | ||

+ | # Bibliography | ||

+ | |||

+ | Chapter 2. Rigid Body Motion | ||

+ | # Rigid Body Transformations | ||

+ | # Rotational Motion in R^3 | ||

+ | # Rigid Motion in R^3 | ||

+ | # Velocity of a Rigid Body | ||

+ | # <font color=blue>Wrenches and Reciprocal Screws</font> | ||

+ | # Summary | ||

+ | # Exercises | ||

+ | |||

+ | Chapter 3. Manipulator Kinematics | ||

+ | # Introduction | ||

+ | # Forward Kinematics | ||

+ | # Inverse Kinematics | ||

+ | # The Manipulator Jacobian | ||

+ | # <font color=blue>Redundant Manipulators</font> | ||

+ | # Bibliography | ||

+ | # Exercises | ||

+ | |||

+ | Chapter 4. Manipulator Dynamics | ||

+ | # Introduction | ||

+ | # Lagrange's Equations | ||

+ | # Dynamics of Open-Chain Manipulators | ||

+ | # <font color=blue>Coordinate Invariant Algorithms</font> | ||

+ | # <font color=blue>Lagrange's Equations with Constraints</font> | ||

+ | # Bibliography | ||

+ | # Exercises | ||

+ | |||

+ | <font color=blue>Chapter 5. Manipulator Control</font> | ||

+ | # Introduction | ||

+ | # <font color=blue>Trajectory Generation</font> | ||

+ | # <font color=blue>Position Control and Trajectory Tracking</font> | ||

+ | # <font color=blue>Control of Constrained Manipulators</font> | ||

+ | # <font color=red>PD Control on Lie Groups*</font> | ||

+ | # Bibliography | ||

+ | # Exercises | ||

+ | |||

+ | <font color=blue>Chapter 6. Parallel Manipulators | ||

+ | # Introduction | ||

+ | # Configuration Space and Singularities | ||

+ | # Singularity Classification | ||

+ | # Dynamics and Control | ||

+ | # Bibliography | ||

+ | # Exercises | ||

+ | </font> | ||

+ | |||

+ | <font color=blue>Chapter 7. Mechanism Synthesis and Design | ||

+ | # Introduction | ||

+ | # Constrained Rigid Motions | ||

+ | # Synthesis of Open-Chain Manipulators | ||

+ | # Synthesis of Parallel Manipulators | ||

+ | # Mechanism Design | ||

+ | # Bibliography | ||

+ | # Exercises | ||

+ | </font> | ||

+ | |||

+ | <font color=blue>Chapter 8. Multifingered Grasping and Manipulation</font> | ||

+ | # Introduction to Grasping | ||

+ | # Grasp Statics | ||

+ | # Force-Closure | ||

+ | # Grasp Planning | ||

+ | # Grasp constraints | ||

+ | # Kinematics of Contact | ||

+ | # <font color=blue>Hand KInematics</font> | ||

+ | # <font color=blue>Grasp Force Optimization</font> | ||

+ | # <font color=blue>Coordinated Control</font> | ||

+ | # Bibliography | ||

+ | # Exercises | ||

+ | |||

+ | <font color=blue>Chapter 9. Nonholonomic Systems and Motion Planning</font> | ||

+ | # Introduction | ||

+ | # Controllability and the Frobenius theorem | ||

+ | # Examples of Nonholonomic Systems | ||

+ | # <font color=blue>Nonholonomic Planning Using Differential Flatness</font> | ||

+ | # <font color=blue>Locomotion Systems</font> | ||

+ | # Bibliography | ||

+ | # Exercises | ||

+ | |||

+ | Appendix A. Lie Groups and Robot Kinematics | ||

+ | # Differentiable Manifolds | ||

+ | # Lie Groups | ||

+ | # The Geometry of the Euclidean Group | ||

+ | |||

+ | Appendix B. Lyapunov Stability Theory |

## Revision as of 02:06, 8 August 2011

A Geometric Introduction to Robotics and Manipulation |

Second Edition |

Richard M. Murray, Zexiang Li and S. Shankar Sastry |

This page contains information on the second edition of *A Mathematical Introduction to Robotic Manipulation*. This book is currently being written and is expected to be available from CRC Press in 2012.

### Table of Contents

New sections (or those containing substantial new material) are marked in blue. Tentative sections for inclusion in the second edition are marked in red.

Chapter 1. Introduction

- Brief History
- Outline of the Book
- Bibliography

Chapter 2. Rigid Body Motion

- Rigid Body Transformations
- Rotational Motion in R^3
- Rigid Motion in R^3
- Velocity of a Rigid Body
- Wrenches and Reciprocal Screws
- Summary
- Exercises

Chapter 3. Manipulator Kinematics

- Introduction
- Forward Kinematics
- Inverse Kinematics
- The Manipulator Jacobian
- Redundant Manipulators
- Bibliography
- Exercises

Chapter 4. Manipulator Dynamics

- Introduction
- Lagrange's Equations
- Dynamics of Open-Chain Manipulators
- Coordinate Invariant Algorithms
- Lagrange's Equations with Constraints
- Bibliography
- Exercises

Chapter 5. Manipulator Control

- Introduction
- Trajectory Generation
- Position Control and Trajectory Tracking
- Control of Constrained Manipulators
- PD Control on Lie Groups*
- Bibliography
- Exercises

Chapter 6. Parallel Manipulators

- Introduction
- Configuration Space and Singularities
- Singularity Classification
- Dynamics and Control
- Bibliography
- Exercises

Chapter 7. Mechanism Synthesis and Design

- Introduction
- Constrained Rigid Motions
- Synthesis of Open-Chain Manipulators
- Synthesis of Parallel Manipulators
- Mechanism Design
- Bibliography
- Exercises

Chapter 8. Multifingered Grasping and Manipulation

- Introduction to Grasping
- Grasp Statics
- Force-Closure
- Grasp Planning
- Grasp constraints
- Kinematics of Contact
- Hand KInematics
- Grasp Force Optimization
- Coordinated Control
- Bibliography
- Exercises

Chapter 9. Nonholonomic Systems and Motion Planning

- Introduction
- Controllability and the Frobenius theorem
- Examples of Nonholonomic Systems
- Nonholonomic Planning Using Differential Flatness
- Locomotion Systems
- Bibliography
- Exercises

Appendix A. Lie Groups and Robot Kinematics

- Differentiable Manifolds
- Lie Groups
- The Geometry of the Euclidean Group

Appendix B. Lyapunov Stability Theory