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2024-03-29T11:54:01Z
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Second edition
2011-08-08T01:52:08Z
<p>Murray: </p>
<hr />
<div><table width="100%"><br />
<tr><td align=center><br />
<font color='blue' size='+2'>A Geometric Introduction to Robotics and Manipulation</font></td></tr><br />
<tr><td align=center height="40"><font size='+1'>Second Edition</font></td></tr><br />
<tr><td align=center height="40"><font size='+1'>[[Richard M. Murray]], [[Zexiang Li]] and [[S. Shankar Sastry]]</font></td></tr><br />
</table> __NOTOC__<br />
<br />
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.<br />
<br />
=== Table of Contents ===<br />
<br />
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>.<br />
<br />
Chapter 1. Introduction<br />
# <font color=blue>Early History of Robotics</font><br />
# <font color=blue>Recent History of Robotics</font><br />
# Geometric Methods in Robotics<br />
# Outline of the Book<br />
# Bibliography<br />
<br />
Chapter 2. Rigid Body Motion<br />
# Rigid Body Transformations<br />
# Rotational Motion in R^3<br />
# Rigid Motion in R^3<br />
# Velocity of a Rigid Body<br />
# <font color=blue>Wrenches and Reciprocal Screws</font><br />
# Summary<br />
# Exercises<br />
<br />
Chapter 3. Manipulator Kinematics<br />
# Introduction<br />
# Forward Kinematics<br />
# Inverse Kinematics<br />
# The Manipulator Jacobian<br />
# <font color=blue>Redundant Manipulators</font><br />
# Bibliography<br />
# Exercises<br />
<br />
Chapter 4. Manipulator Dynamics<br />
# Introduction<br />
# Lagrange's Equations<br />
# Dynamics of Open-Chain Manipulators<br />
# <font color=blue>Coordinate Invariant Algorithms</font><br />
# <font color=blue>Lagrange's Equations with Constraints</font><br />
# Bibliography<br />
# Exercises<br />
<br />
<font color=blue>Chapter 5. Manipulator Control</font><br />
# Introduction<br />
# <font color=blue>Trajectory Generation</font><br />
# <font color=blue>Position Control and Trajectory Tracking</font><br />
# <font color=blue>Control of Constrained Manipulators</font><br />
# <font color=red>PD Control on Lie Groups*</font><br />
# Bibliography<br />
# Exercises<br />
<br />
<font color=blue>Chapter 6. Parallel Manipulators<br />
# Introduction<br />
# Configuration Space and Singularities<br />
# Singularity Classification<br />
# Dynamics and Control<br />
# Bibliography<br />
# Exercises<br />
</font><br />
<br />
<font color=blue>Chapter 7. Mechanism Synthesis and Design<br />
# Introduction<br />
# Constrained Rigid Motions<br />
# Synthesis of Open-Chain Manipulators<br />
# Synthesis of Parallel Manipulators<br />
# Mechanism Design<br />
# Bibliography<br />
# Exercises<br />
</font><br />
<br />
<font color=blue>Chapter 8. Multifingered Grasping and Manipulation</font><br />
# Introduction to Grasping<br />
# Grasp Statics<br />
# Force-Closure<br />
# Grasp Planning<br />
# Grasp constraints<br />
# Kinematics of Contact<br />
# <font color=blue>Hand KInematics</font><br />
# <font color=blue>Grasp Force Optimization</font><br />
# <font color=blue>Coordinated Control</font><br />
# Bibliography<br />
# Exercises<br />
<br />
<font color=blue>Chapter 9. Nonholonomic Systems and Motion Planning</font><br />
# Introduction<br />
# Controllability and the Frobenius theorem<br />
# Examples of Nonholonomic Systems<br />
# <font color=blue>Nonholonomic Planning Using Differential Flatness</font><br />
# <font color=red>Locomotion Systems</font><br />
# Bibliography<br />
# Exercises<br />
<br />
Appendix A. Lie Groups and Robot Kinematics<br />
# Differentiable Manifolds<br />
# Lie Groups<br />
# The Geometry of the Euclidean Group<br />
<br />
Appendix B. Lyapunov Stability Theory</div>
Murray
https://www.cds.caltech.edu/~murray/mlswiki/index.php?title=Sandbox
Sandbox
2010-03-28T17:08:37Z
<p>Murray: </p>
<hr />
<div><math>x = 45 y</math><br />
<amsmath>b</amsmath></div>
Murray