Difference between revisions of "Second edition"

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This page contains information on the second edition of {{MLS title}}.
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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.
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 +
=== 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>
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# Outline of the Book
 +
# Bibliography
 +
 
 +
Chapter 2.  Rigid Body Motion
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# Rigid Body Transformations
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# Rotational Motion in R^3
 +
# Rigid Motion in R^3
 +
# Velocity of a Rigid Body
 +
# <font color=blue>Wrenches and Reciprocal Screws</font>
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# Summary
 +
# Exercises
 +
 
 +
Chapter 3.  Manipulator Kinematics
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# Introduction
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# Forward Kinematics
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# Inverse Kinematics
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# The Manipulator Jacobian
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# <font color=blue>Redundant Manipulators</font>
 +
# Bibliography
 +
# Exercises
 +
 
 +
Chapter 4.  Manipulator Dynamics
 +
# Introduction
 +
# Lagrange's Equations
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# Dynamics of Open-Chain Manipulators
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# <font color=blue>Coordinate Invariant Algorithms</font>
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# <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>
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# <font color=red>PD Control on Lie Groups*</font>
 +
# Bibliography
 +
# Exercises
 +
 
 +
<font color=blue>Chapter 6.  Parallel Manipulators
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# Introduction
 +
# Configuration Space and Singularities
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# Singularity Classification
 +
# Dynamics and Control
 +
# Bibliography
 +
# Exercises
 +
</font>
 +
 
 +
<font color=blue>Chapter 7.  Mechanism Synthesis and Design
 +
# Introduction
 +
# Constrained Rigid Motions
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# Synthesis of Open-Chain Manipulators
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# Synthesis of Parallel Manipulators
 +
# Mechanism Design
 +
# Bibliography
 +
# Exercises
 +
</font>
 +
 
 +
<font color=blue>Chapter 8.  Multifingered Grasping and Manipulation</font>
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# Introduction to Grasping
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# Grasp Statics
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# Force-Closure
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# 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>
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# Introduction
 +
# Controllability and the Frobenius theorem
 +
# Examples of Nonholonomic Systems
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# <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

  1. Brief History
  2. Outline of the Book
  3. 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. Exercises

Chapter 3. Manipulator Kinematics

  1. Introduction
  2. Forward Kinematics
  3. Inverse Kinematics
  4. The Manipulator Jacobian
  5. Redundant Manipulators
  6. Bibliography
  7. Exercises

Chapter 4. Manipulator Dynamics

  1. Introduction
  2. Lagrange's Equations
  3. Dynamics of Open-Chain Manipulators
  4. Coordinate Invariant Algorithms
  5. Lagrange's Equations with Constraints
  6. Bibliography
  7. Exercises

Chapter 5. Manipulator Control

  1. Introduction
  2. Trajectory Generation
  3. Position Control and Trajectory Tracking
  4. Control of Constrained Manipulators
  5. PD Control on Lie Groups*
  6. Bibliography
  7. Exercises

Chapter 6. Parallel Manipulators

  1. Introduction
  2. Configuration Space and Singularities
  3. Singularity Classification
  4. Dynamics and Control
  5. Bibliography
  6. Exercises

Chapter 7. Mechanism Synthesis and Design

  1. Introduction
  2. Constrained Rigid Motions
  3. Synthesis of Open-Chain Manipulators
  4. Synthesis of Parallel Manipulators
  5. Mechanism Design
  6. Bibliography
  7. Exercises

Chapter 8. Multifingered Grasping and Manipulation

  1. Introduction to Grasping
  2. Grasp Statics
  3. Force-Closure
  4. Grasp Planning
  5. Grasp constraints
  6. Kinematics of Contact
  7. Hand KInematics
  8. Grasp Force Optimization
  9. Coordinated Control
  10. Bibliography
  11. Exercises

Chapter 9. Nonholonomic Systems and Motion Planning

  1. Introduction
  2. Controllability and the Frobenius theorem
  3. Examples of Nonholonomic Systems
  4. Nonholonomic Planning Using Differential Flatness
  5. Locomotion Systems
  6. Bibliography
  7. Exercises

Appendix A. Lie Groups and Robot Kinematics

  1. Differentiable Manifolds
  2. Lie Groups
  3. The Geometry of the Euclidean Group

Appendix B. Lyapunov Stability Theory