Second edition
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