Second edition

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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. Early History of Robotics
  2. Recent History of Robotics
  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. 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