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

http://www.cds.caltech.edu/%7Emurray/books/MLS/pdf/mls94-complete.pdf

A Mathematical Introduction to Robotic Manipulation

Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. This coherent and comprehensive book unifies material from several sources, including robotics, control theory, artificial intelligence, and algorithms. The treatment is centered on robot motion planning but integrates material on planning in discrete spaces. A major part of the book is devoted to planning under uncertainty, including decision theory, Markov decision processes, and information spaces, which are the “configuration spaces” of all sensor-based planning problems. The last part of the book delves into planning under differential constraints that arise when automating the motions of virtually any mechanical system. Developed from courses taught by the author, the book is intended for students, engineers, and researchers in robotics, artificial intelligence, and control theory as well as computer graphics, algorithms, and computational biology.

Planning Algorithms: Introductory Material

Numerical Initial Value Problems in Ordinary Differential Equations

The different kinds of singularities encountered in closed-loop kinematics chains are analyzed. A general classification of these singularities in three main groups, which is based on the properties of the Jacobian matrices of the chain, is described. The identification of the singular configurations is particularly relevant for hard automation modules or robotic devices based on closed kinematic chains, such as linkages and parallel manipulators. Examples are given to illustrate the application of the method to these mechanical systems. >

Singularity analysis of closed-loop kinematic chains

Leu-M

The Robot Visualization System for Windows (RVS4W) is a cross-platform version of its predecessor, the Robot Visualization System (RVS). Both RVS and RVS4W were developed at McGill University’s Centre for Intelligent Machines. Although RVS4W is equally useful for design as well as for manufacturing purposes, it is also intended as an educational tool. It combines superb 3-D graphics with a user-friendly window-driven environment. RVS4W can provide quantitative information such as the characteristic length, the maximum reach, the optimum posture and the robot conditioning of a given robot. RVS4W is freeware, open-source and platform-independent. The package is a small-sized stand-alone application which makes it very easy to distribute and install, with no stringent hardware requirements. An elaborate User’s Manual of RVS4W is also available for free downloading. The above-mentioned features make RVS4W a valuable pedagogical tool in robotics.

https://ojs.library.queensu.ca/index.php/PCEEA/article/download/3774/3804

Rvs4w: a visualization tool for robot design

A Robust Simulation Algorithm for Conservative Linear Mechanical Systems

http://asmedigitalcollection.asme.org/IDETC-CIE/proceedings-pdf/doi/10.1115/DETC1991-0134/6682913/321_1_detc1991-0134.pdf

A Semigraphical Method for the Solution of the Burmester Problem

The subject of this paper is the elastostatics of a novel three-limb, full-mobility parallel-kinematics machine (PKM) with flexible links, dubbed the SDelta robot. Due to the inherent flexibility of the light-weight limb rods under fast operations, they are modeled as identical linearly elastic beams. The moving platform of the PKM is assumed to be elastically attached to the base platform via a six-dof generalized spring. Because of the symmetric design of the SDelta robot, the constant generalized stiffness matrix becomes isotropic. Moreover, the posture-dependent Cartesian stiffness matrix is derived. Based on the preliminary design of a prototype at the desktop scale, its stiffness matrix is numerically evaluated.

Elastostatics of a Full-Mobility PKM with Flexible Links

Least-square problems arise in cases involving arrays with entries bearing different units, rather common in the analysis and synthesis of mechanical systems. Indeed, this is the case with rigid bodies whereby both rotation and translation occur. Dual numbers have been extensively used to take into account this feature. However, the primal part of the system of equations is still usually solved first, followed by the dual part. In this paper, we propose the use of the concept of characteristic length to be able to obtain one single dimensionless system of equations in problems of kinematic synthesis where the least-square solution to a system with both rotation and translation is to be found.

Dual Least Squares and the Characteristic Length: Applications to Kinematic Synthesis

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