A Mathematical Introduction to Robotic Manipulation (Paperback)

INTRODUCTION:
Brief History.
Multifingered Hands and Dextrous Manipulation.
Outline of the Book.
Bibliography.
RIGID BODY MOTION:
Rigid Body Transformations.
Rotational Motion in R3.
Rigid Motion in R3.
Velocity of a Rigid Body.
Wrenches and Reciprocal Screws.
MANIPULATOR KINEMATICS:
Introduction.
Forward Kinematics.
Inverse Kinematics.
The Manipulator Jacobian.
Redundant and Parallel Manipulators.
ROBOT DYNAMICS AND CONTROL:
Introduction.
Lagrange's Equations.
Dynamics of Open-Chain Manipulators.
Lyapunov Stability Theory.
Position Control and Trajectory Tracking.
Control of Constrained Manipulators.
MULTIFINGERED HAND KINEMATICS:
Introduction to Grasping.
Grasp Statics.
Force-Closure.
Grasp Planning.
Grasp Constraints.
Rolling Contact Kinematics.
HAND DYNAMICS AND CONTROL:
Lagrange's Equations with Constraints.
Robot Hand Dynamics.
Redundant and Nonmanipulable Robot Systems.
Kinematics and Statics of Tendon Actuation.
Control of Robot Hands.
NONHOLONOMIC BEHAVIOR IN ROBOTIC SYSTEMS:
Introduction.
Controllability and Frobenius' Theorem.
Examples of Nonholonomic Systems.
Structure of Nonholonomic Systems.
NONHOLONOMIC MOTION PLANNING:
Introduction.
Steering Model Control Systems Using Sinusoids.
General Methods for Steering.
Dynamic Finger Repositioning.
FUTURE PROSPECTS:
Robots in Hazardous Environments.
Medical Applications for Multifingered Hands.
Robots on a Small Scale: Microrobotics.
APPENDICES:
Lie Groups and Robot Kinematics.
A Mathematica Package for Screw Calculus.
Bibliography.
Index
Each chapter also includes a Summary, Bibliography, and Exercises