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

Introduction to support vector learning roadmap. Part 1 Theory: three remarks on the support vector method of function estimation, Vladimir Vapnik generalization performance of support vector machines and other pattern classifiers, Peter Bartlett and John Shawe-Taylor Bayesian voting schemes and large margin classifiers, Nello Cristianini and John Shawe-Taylor support vector machines, reproducing kernel Hilbert spaces, and randomized GACV, Grace Wahba geometry and invariance in kernel based methods, Christopher J.C. Burges on the annealed VC entropy for margin classifiers - a statistical mechanics study, Manfred Opper entropy numbers, operators and support vector kernels, Robert C. Williamson et al. Part 2 Implementations: solving the quadratic programming problem arising in support vector classification, Linda Kaufman making large-scale support vector machine learning practical, Thorsten Joachims fast training of support vector machines using sequential minimal optimization, John C. Platt. Part 3 Applications: support vector machines for dynamic reconstruction of a chaotic system, Davide Mattera and Simon Haykin using support vector machines for time series prediction, Klaus-Robert Muller et al pairwise classification and support vector machines, Ulrich Kressel. Part 4 Extensions of the algorithm: reducing the run-time complexity in support vector machines, Edgar E. Osuna and Federico Girosi support vector regression with ANOVA decomposition kernels, Mark O. Stitson et al support vector density estimation, Jason Weston et al combining support vector and mathematical programming methods for classification, Bernhard Scholkopf et al.

Advances in kernel methods: support vector learning

Preface. 1. Introduction. 2. Rigid Motions and Homogeneous Transformations. 3. Forward and Inverse Kinematics. 4. Velocity Kinematics-The Jacobian. 5. Path and Trajectory Planning. 6. Independent Joint Control. 7. Dynamics. 8. Multivariable Control. 9. Force Control. 10. Geometric Nonlinear Control. 11. Computer Vision. 12. Vision-Based Control. Appendix A: Trigonometry. Appendix B: Linear Algebra. Appendix C: Dynamical Systems. Appendix D: Lyapunov Stability. Index.

/pdf/robot-modeling-and-control-2n3memrp6g.pdf

Robot Modeling and Control

In this paper we develop new Newton and conjugate gradient algorithms on the Grassmann and Stiefel manifolds. These manifolds represent the constraints that arise in such areas as the symmetric eigenvalue problem, nonlinear eigenvalue problems, electronic structures computations, and signal processing. In addition to the new algorithms, we show how the geometrical framework gives penetrating new insights allowing us to create, understand, and compare algorithms. The theory proposed here provides a taxonomy for numerical linear algebra algorithms that provide a top level mathematical view of previously unrelated algorithms. It is our hope that developers of new algorithms and perturbation theories will benefit from the theory, methods, and examples in this paper.

http://www-math.mit.edu/~edelman/publications/geometry_of_algorithms.pdf

The Geometry of Algorithms with Orthogonality Constraints

This is a revised printing of one of the classic mathematics texts published in the last 25 years. This revised edition includes updated references and indexes and error corrections and will continue to serve as the standard text for students and professionals in the field.Differential manifolds are the underlying objects of study in much of advanced calculus and analysis. Topics such as line and surface integrals, divergence and curl of vector fields, and Stoke's and Green's theorems find their most natural setting in manifold theory. Riemannian plane geometry can be visualized as the geometry on the surface of a sphere in which "lines" are taken to be great circle arcs.

William M. Boothby

Papers

An introduction to differentiable manifolds and Riemannian geometry