# MLS second edition

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:

- Boston University, ME/SE 740 – Vision, Robotics & Planning (syllabus)
- California Insitute of Technology, ME 115 - Introduction to Kinematics and Robotics
- University of British Columbia, EECE 487 - Introduction to Robotics
- University of California, Berkeley, EE 125 - Introduction to Robotics
- University of Maryland, ENME808V - A Mathematical Introduction to Robotics (syllabus)

### Other robotics textbooks

- Principles of Robot Motion: Theory, Algorithms, and Implementations, Choset et al. MIT Press, 2005.
- Introduction to Robotics: Mechanics and Control (3rd edition), John J. Craig. Prentice-Hall, 2004.
- Robotics: Modelling, Planning and Control, Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo. Springer, 2008.
- Robot Modeling and Control, Mark W. Spong, Seth Hutchinson, M. Vidyasagar. Wiley, 2005.

## Updated table of contents

**Chapter 1. Introduction**

- Brief History
- Multifingered Hands and Dextrous Manipulation
- Robotic locomotion and path planning (new; RMM)
- Outline of the Book
- Bibliography

**Chapter 2. Rigid Body Motion**

- Rigid Body Transformations
- Rotational Motion in R^3
- Updates from Zexiang on other representations of SO(3)

- Rigid Motion in R^3
- Updates on exponential map for SE(2) from Zexiang

- Velocity of a Rigid Body
- Wrenches and Reciprocal Screws
~~Summary~~(move to wiki)- Bibliography
- Exercises

**Chapter 3. Manipulator Kinematics**

- Introduction
- Forward Kinematics
- Inverse Kinematics
- The Manipulator Jacobian
~~Redundant and Parallel Manipulators~~(move to new chapter)~~Summary~~(move to wiki)- Bibliography
- 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**

- Introduction
- Lagrange's Equations
- Dynamics for an Open-Chain Manipulator
- Lyapunov Stability Theory
- Position Control and Trajectory Tracking
- Control of Constrained Manipulators
~~Summary~~(move to wiki)- Bibliography
- Exercises

**Chapter 5. Multifingered Hand Kinematics**

- Introduction to Grasping
- Grasp Statics
- Force-Closure
- Grasp Planning
- Grasp constraints
- Rolling contact kinematics
~~Summary~~(move to wiki)- Bibliography
- Exercises

**Chapter 6. Hand Dynamics and Control**

- Lagrange's Equations with Constraints
- Robot Hand Dynamics
- Redundant and Non-Manipulable Robot Systems
- Kinematics and statics of tendon actuation
- Control of Robot Hands
~~Summary~~(move to wiki)- Bibliography
- Exercises

**Chapter 7. Nonholonomic Behavior in Robotic Systems**

- Introduction
- Controllability and the Frobenius theorem
- Examples of Nonholonomic Systems
- Structure of Nonholonomic Systems
- Locomotion Systems (new; Richard)
~~Summary~~(move to wiki)- Bibliography
- 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**

- Introduction
- Steering Model Control Systems Using Sinusoids
~~General Methods for Steering~~- Dynamic Finger Repositioning
- Planning using differential flatness (new; Richard)
~~Summary~~(move to wiki)- Bibliography
- 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**

- Differentiable Manifolds
- Lie Groups
- The Geometry of the Euclidean Group

**Appendix B. A Mathematica Package for Performing Screw Calculus**