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Tables of Contents for Modelling and Control of Robot Manipulators
Chapter/Section Title
Page #
Page Count
Introduction
1
20
Robotics
1
2
Industrial Robot
3
3
Manipulator Structures
6
8
Modelling and Control of Robot Manipulators
14
2
Modelling
15
1
Control
15
1
Bibliographical Reference Texts
16
5
Kinematics
21
58
Position and Orientation of a Rigid Body
21
1
Rotation Matrix
22
4
Elementary Rotations
23
1
Representation of a Vector
24
1
Rotation of a Vector
25
1
Composition of Rotation Matrices
26
4
Euler Angles
30
3
ZYZ Angles
30
2
Roll--Pitch--Yaw Angles
32
1
Angle and Axis
33
2
Unit Quaternion
35
2
Homogeneous Transformations
37
2
Direct Kinematics
39
10
Open Chain
41
1
Denavit-Hartenberg Convention
42
4
Closed Chain
46
3
Kinematics of Typical Manipulator Structures
49
10
Three-link Planar Arm
49
2
Parallelogram Arm
51
2
Spherical Arm
53
1
Anthropomorphic Arm
54
1
Spherical Wrist
55
2
Stanford Manipulator
57
1
Anthropomorphic Arm with Spherical Wrist
58
1
Joint Space and Operational Space
59
5
Workspace
61
2
Kinematic Redundancy
63
1
Kinematic Calibration
64
2
Inverse Kinematics Problem
66
13
Solution of Three-link Planar Arm
67
3
Solution of Manipulators with Spherical Wrist
70
1
Solution of Spherical Arm
71
1
Solution of Anthropomorphic Arm
72
1
Solution of Spherical Wrist
73
1
Problems
74
2
Bibliography
76
3
Differential Kinematics and Statics*
79
52
Geometric Jacobian
79
8
Derivative of a Rotation Matrix
80
2
Link Velocity
82
2
Jacobian Computation
84
3
Jacobian of Typical Manipulator Structures
87
2
Three-link Planar Arm
87
1
Anthropomorphic Arm
88
1
Stanford Manipulator
89
1
Kinematic Singularities
89
5
Singularity Decoupling
91
1
Wrist Singularities
92
1
Arm Singularities
92
2
Analysis of Redundancy
94
2
Differential Kinematics Inversion
96
4
Redundant Manipulators
97
3
Kinematic Singularities
100
1
Analytical Jacobian
100
4
Inverse Kinematics Algorithms
104
12
Jacobian (Pseudo-)Inverse
105
1
Jacobian Transpose
106
3
Orientation Error
109
3
A Comparison Between Inverse Kinematics Algorithms
112
4
Statics
116
5
Kineto-statics Duality
118
1
Velocity and Force Transformation
119
1
Closed Chain
120
1
Manipulability Ellipsoids
121
10
Problems
127
1
Bibliography
128
3
Dynamics
131
54
Lagrange Formulation
131
10
Computation of Kinetic Energy
133
6
Computation of Potential Energy
139
1
Equations of Motion
140
1
Notable Properties of Dynamic Model*
141
7
Skew-symmetry of Matrix B -- 2C
142
1
Linearity in the Dynamic Parameters
143
5
Dynamic Model of Simple Manipulator Structures
148
16
Two-link Cartesian Arm
148
1
Two-link Planar Arm
149
12
Parallelogram Arm
161
3
Dynamic Parameter Identification*
164
2
Newton-Euler Formulation*
166
9
Link Acceleration
168
1
Recursive Algorithm
169
3
Example
172
3
Direct Dynamics and Inverse Dynamics*
175
1
Operational Space Dynamic Model*
176
3
Dynamic Manipulability Ellipsoid*
179
6
Problems
181
1
Bibliography
182
3
Trajectory Planning
185
28
Path and Trajectory
185
1
Joint Space Trajectories
186
16
Point-to-point Motion
187
5
Path Motion
192
10
Operational Space Trajectories
202
7
Path Primitives
203
4
Position
207
1
Orientation
208
1
Dynamic Scaling of Trajectories
209
4
Problems
211
1
Bibliography
212
1
Motion Control
213
58
The Control Problem
213
2
Joint Space Control
215
2
Independent Joint Control
217
14
Feedback Control
218
9
Decentralized Feedforward Compensation
227
4
Computed Torque Feedforward Control
231
3
Centralized Control*
234
16
PD Control with Gravity Compensation
236
2
Inverse Dynamics Control
238
2
Robust Control
240
6
Adaptive Control
246
4
Operational Space Control*
250
6
General Schemes
251
1
PD Control with Gravity Compensation
252
2
Inverse Dynamics Control
254
2
A Comparison Between Various Control Schemes*
256
15
Problems
263
5
Bibliography
268
3
Interaction Control*
271
24
Manipulator Interaction with Environment
271
1
Compliance Control
272
4
Impedance Control
276
4
Force Control
280
5
Force Control with Inner Position Loop
280
1
Force Control with Inner Velocity Loop
281
1
Parallel Force/Position Control
282
3
Natural Constraints and Artificial Constraints
285
3
Case Studies
287
1
Hybrid Force/Position Control
288
7
Problems
292
1
Bibliography
292
3
Actuators and Sensors
295
26
Joint Actuating System
295
5
Transmissions
296
1
Servomotors
297
2
Power Amplifiers
299
1
Power Supplies
300
1
Servomotors
300
7
Electric Servomotors
300
4
Hydraulic Servomotors
304
3
Sensors
307
14
Position Transducers
307
3
Velocity Transducers
310
1
Force Sensors
311
4
Vision Sensors
315
4
Problems
319
1
Bibliography
319
2
Control Architecture
321
14
Functional Architecture
321
5
Programming Environment
326
3
Teaching-by-showing
327
1
Robot-oriented Programming
328
1
Hardware Architecture
329
6
Problems
332
1
Bibliography
333
2
Appendix A. Linear Algebra
335
16
A.1 Definitions
335
2
A.2 Matrix Operations
337
4
A.3 Vector Operations
341
3
A.4 Linear Transformations
344
1
A.5 Eigenvalues and Eigenvectors
345
1
A.6 Bilinear Forms and Quadratic Forms
345
2
A.7 Pseudo-inverse
347
1
A.8 Singular Value Decomposition
348
3
Bibliography
349
2
Appendix B. Rigid Body Mechanics
351
10
B.1 Kinematics
351
2
B.2 Dynamics
353
3
B.3 Work and Energy
356
1
B.4 Constrained Systems
356
5
Bibliography
359
2
Appendix C. Feedback Control
361
10
C.1 Control of Single-input/Single-output Linear Systems
361
5
C.2 Control of Nonlinear Mechanical Systems
366
2
C.3 Lyapunov Direct Method
368
3
Bibliography
369
2
Index
371