MLS second edition - Revision history

Murray: /* Updated table of contents */

2009-06-05T09:47:16Z

Updated table of contents

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	== Updated table of contents ==		== Updated table of contents ==

	'''Chapter 1. Introduction'',		'''Chapter 1. Introduction'''
	# Brief History		# Brief History
	# Multifingered Hands and Dextrous Manipulation		# Multifingered Hands and Dextrous Manipulation

Murray at 09:47, 5 June 2009

2009-06-05T09:47:00Z

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	* [http://www.springer.com/engineering/robotics/book/978-1-84628-641-4 Robotics: Modelling, Planning and Control], Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo. Springer, 2008.		* [http://www.springer.com/engineering/robotics/book/978-1-84628-641-4 Robotics: Modelling, Planning and Control], Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo. Springer, 2008.
	* [http://www.wiley.com/WileyCDA/WileyTitle/productCd-0471649902.html Robot Modeling and Control], Mark W. Spong, Seth Hutchinson, M. Vidyasagar. Wiley, 2005.		* [http://www.wiley.com/WileyCDA/WileyTitle/productCd-0471649902.html 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
			# <font color=blue>Robotic locomotion and path planning</font> (new; RMM)
			# Outline of the Book
			# Bibliography

			'''Chapter 2. Rigid Body Motion'''
			# Rigid Body Transformations
			# Rotational Motion in R^3
			#* <font color=blue> Updates from Zexiang on other representations of SO(3)</font>
			# Rigid Motion in R^3
			#* <font color=blue> Updates on exponential map for SE(2) from Zexiang</font>
			# Velocity of a Rigid Body
			# Wrenches and Reciprocal Screws
			# <s>Summary</s> <font color=blue>(move to wiki)</font>
			# Bibliography
			# Exercises

			'''Chapter 3. Manipulator Kinematics'''
			# Introduction
			# Forward Kinematics
			# Inverse Kinematics
			# The Manipulator Jacobian
			# <s>Redundant and Parallel Manipulators</s> <font color=blue>(move to new chapter)</font>
			# <s>Summary</s> <font color=blue>(move to wiki)</font>
			# Bibliography
			# Exercises

			<font color=blue>
			'''Chapter 3X. Parallel Manipulators and Mechanism Design''' (Zexiang)
			* This is a new chapter that will be written by Zexiang
			</font>

			'''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
			# <s>Summary</s> <font color=blue>(move to wiki)</font>
			# Bibliography
			# Exercises

			'''Chapter 5. Multifingered Hand Kinematics'''
			# Introduction to Grasping
			# Grasp Statics
			# Force-Closure
			# Grasp Planning
			# Grasp constraints
			# Rolling contact kinematics
			# <s>Summary</s> <font color=blue>(move to wiki)</font>
			# 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
			# <s>Summary</s> <font color=blue>(move to wiki)</font>
			# Bibliography
			# Exercises

			'''Chapter 7. Nonholonomic Behavior in Robotic Systems'''
			# Introduction
			# Controllability and the Frobenius theorem
			# Examples of Nonholonomic Systems
			# Structure of Nonholonomic Systems
			# <font color=blue>Locomotion Systems</font> (new; Richard)
			# <s>Summary</s> <font color=blue>(move to wiki)</font>
			# Bibliography
			# Exercises

			* <font color=blue> 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.</font>

			'''Chapter 8. Nonholonomic Motion Planning'''
			# Introduction
			# Steering Model Control Systems Using Sinusoids
			# <s>General Methods for Steering</s>
			# Dynamic Finger Repositioning
			# <font color=blue> Planning using differential flatness </font> (new; Richard)
			# <s>Summary</s> <font color=blue>(move to wiki)</font>
			# Bibliography
			# Exercises

			* <font color=blue> This chapter would be substantially rewritten by Richard to use more modern formalisms in trajectory generation and tracking, including the ues of differential flatness.</font>

			<font color=blue>
			'''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.
			</font>

			<s>'''Chapter 9. Future Prospects'''</s>
			<font color=blue>
			* This chapter will be deleted from the text
			</font>

			'''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'''

Murray: MLS94 second edition moved to MLS second edition

2009-06-05T09:09:41Z

MLS94 second edition moved to MLS second edition

← Older revision		Revision as of 09:09, 5 June 2009
(No difference)

Murray at 09:09, 5 June 2009

2009-06-05T09:09:29Z

New page

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 ([http://www.bu.edu/me/undergraduate/documents/Spring_2009/ME740_Dupont_S09.pdf syllabus])
* California Insitute of Technology, [http://robotics.caltech.edu/~jwb/courses/ME115/ME115.html ME 115 - Introduction to Kinematics and Robotics]
* University of British Columbia, [http://courses.ece.ubc.ca/487/ EECE 487 - Introduction to Robotics]
* University of California, Berkeley, [http://inst.eecs.berkeley.edu/~ee125 EE 125 - Introduction to Robotics]
* University of Maryland, ENME808V - A Mathematical Introduction to Robotics ([http://rams.umd.edu/pdf/ENME808V.pdf syllabus])

=== Other robotics textbooks ===

* [http://mitpress.mit.edu/catalog/item/default.asp?ttype=2&tid=10340&mode=toc Principles of Robot Motion: Theory, Algorithms, and Implementations], Choset et al. MIT Press, 2005.
* [http://www.pearsonhighered.com/educator/academic/product/0,3110,0201543613,00.html Introduction to Robotics: Mechanics and Control (3rd edition)], John J. Craig. Prentice-Hall, 2004.
* [http://www.springer.com/engineering/robotics/book/978-1-84628-641-4 Robotics: Modelling, Planning and Control], Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo. Springer, 2008.
* [http://www.wiley.com/WileyCDA/WileyTitle/productCd-0471649902.html Robot Modeling and Control], Mark W. Spong, Seth Hutchinson, M. Vidyasagar. Wiley, 2005.