MLS second edition

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This page collections information related to the second edition of A Mathematical Introduction to Robotic Manipulation by Murray, Li and Sastry (1994).

Courses that use MLS94

The following courses use MLS94 as a required textbook:

Other robotics textbooks

Updated table of contents

Chapter 1. Introduction

  1. Brief History
  2. Multifingered Hands and Dextrous Manipulation
  3. Robotic locomotion and path planning (new; RMM)
  4. Outline of the Book
  5. Bibliography

Chapter 2. Rigid Body Motion

  1. Rigid Body Transformations
  2. Rotational Motion in R^3
    • Updates from Zexiang on other representations of SO(3)
  3. Rigid Motion in R^3
    • Updates on exponential map for SE(2) from Zexiang
  4. Velocity of a Rigid Body
  5. Wrenches and Reciprocal Screws
  6. Summary (move to wiki)
  7. Bibliography
  8. Exercises

Chapter 3. Manipulator Kinematics

  1. Introduction
  2. Forward Kinematics
  3. Inverse Kinematics
  4. The Manipulator Jacobian
  5. Redundant and Parallel Manipulators (move to new chapter)
  6. Summary (move to wiki)
  7. Bibliography
  8. Exercises

Chapter 3X. Parallel Manipulators and Mechanism Design (Zexiang)

  • This is a new chapter that will be written by Zexiang

Chapter 4. Robot Dynamics and Control

  1. Introduction
  2. Lagrange's Equations
  3. Dynamics for an Open-Chain Manipulator
  4. Lyapunov Stability Theory
  5. Position Control and Trajectory Tracking
  6. Control of Constrained Manipulators
  7. Summary (move to wiki)
  8. Bibliography
  9. Exercises

Chapter 5. Multifingered Hand Kinematics

  1. Introduction to Grasping
  2. Grasp Statics
  3. Force-Closure
  4. Grasp Planning
  5. Grasp constraints
  6. Rolling contact kinematics
  7. Summary (move to wiki)
  8. Bibliography
  9. Exercises

Chapter 6. Hand Dynamics and Control

  1. Lagrange's Equations with Constraints
  2. Robot Hand Dynamics
  3. Redundant and Non-Manipulable Robot Systems
  4. Kinematics and statics of tendon actuation
  5. Control of Robot Hands
  6. Summary (move to wiki)
  7. Bibliography
  8. Exercises

Chapter 7. Nonholonomic Behavior in Robotic Systems

  1. Introduction
  2. Controllability and the Frobenius theorem
  3. Examples of Nonholonomic Systems
  4. Structure of Nonholonomic Systems
  5. Locomotion Systems (new; Richard)
  6. Summary (move to wiki)
  7. Bibliography
  8. Exercises
  • This chapter would be substantially rewritten by Richard to make closer connections to the fiber bundle picture in nonholonomic mechanics. A new section on locomotion systems will be added.

Chapter 8. Nonholonomic Motion Planning

  1. Introduction
  2. Steering Model Control Systems Using Sinusoids
  3. General Methods for Steering
  4. Dynamic Finger Repositioning
  5. Planning using differential flatness (new; Richard)
  6. Summary (move to wiki)
  7. Bibliography
  8. Exercises
  • This chapter would be substantially rewritten by Richard to use more modern formalisms in trajectory generation and tracking, including the ues of differential flatness.

Chapter 8X. Computer Vision (Shankar)

  • We are considering adding a chapter on computer vision that links with the main text. The main topic here would be on structure from motion.

Chapter 9. Future Prospects

  • This chapter will be deleted from the text

Appendix A. Lie Groups and Robot Kinematics

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

Appendix B. A Mathematica Package for Performing Screw Calculus