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

A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.

Principles of Robot Motion: Theory, Algorithms, and Implementations

Methods for steering systems with nonholonomic c.onstraints between arbitrary configurations are investigated. Suboptimal trajectories are derived for systems that are not in canonical form. Systems in which it takes more than one level of bracketing to achieve controllability are considered. The trajectories use sinusoids at integrally related frequencies to achieve motion at a given bracketing level. A class of systems that can be steered using sinusoids (claimed systems) is defined. Conditions under which a class of two-input systems can be converted into this form are given. >

/pdf/nonholonomic-motion-planning-steering-using-sinusoids-3lyefe031n.pdf

Nonholonomic motion planning: steering using sinusoids

Continuum robotics has rapidly become a rich and diverse area of research, with many designs and applications demonstrated. Despite this diversity in form and purpose, there exists remarkable similarity in the fundamental simplified kinematic models that have been applied to continuum robots. However, this can easily be obscured, especially to a newcomer to the field, by the different applications, coordinate frame choices, and analytical formalisms employed. In this paper we review several modeling approaches in a common frame and notational convention, illustrating that for piecewise constant curvature, they produce identical results. This discussion elucidates what has been articulated in different ways by a number of researchers in the past several years, namely that constant-curvature kinematics can be considered as consisting of two separate submappings: one that is general and applies to all continuum robots, and another that is robot-specific. These mappings are then developed both for the single-section and for the multi-section case. Similarly, we discuss the decomposition of differential kinematics (the robotâ??s Jacobian) into robot-specific and robot-independent portions. The paper concludes with a perspective on several of the themes of current research that are shaping the future of continuum robotics.

/pdf/design-and-kinematic-modeling-of-constant-curvature-4wrx5stlzx.pdf

Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review

Hand Dynamics and Control

Direct numerical simulations (DNS) are conducted to gain insight into the blowing-based active control in a spatially developing turbulent boundary layer at a low Reynolds number. The drag reduction properties and mechanisms of different blowing velocity distribution forms under constant wall-normal mass flux are comparatively studied, including uniform blowing and blowing-only opposition control (BOOC). After the application of blowing control, the self-similarity of the Reynolds shear stress is influenced. The property of drag reduction and control gain of the blowing-based active control schemes in the turbulent boundary layer is similar to that in turbulent channel flow, i.e., the BOOC scheme can achieve higher drag reduction than uniform blowing, but the control gain reduces. Due to the coexistence of the opposition effect and the induction effect, the negative wall-normal velocity fluctuations accompanied by the sweep motion are induced to form small-scale flow structures in the near-wall region. The decomposition of the skin-friction drag coefficient shows that the changes of each contribution term are basically the same for different blowing schemes, except that the BOOC scheme has a more substantial influence on mean convection and spatial development. According to the property that the drag reduction of the BOOC scheme with additional threshold limitation is equivalent to that without the restriction, it can be determined that the effect of blowing-based active control is mainly based on the temporal and spatial averaging effects of blowing, including the opposition effect and the induction effect.

Drag reduction of blowing-based active control in a turbulent boundary layer

This paper proposes a smooth cooperated walking pattern design and feedback control based on tilt senor for biped humanoid robot. In this research, the smoothness and stability problem is the key work of the motion planning. We make the robot walk stably and naturally like a human using static Zero Moment Point (ZMP) theory and the inclination feedback control. Its basic idea is as follows: firstly, through the geometry and static ZMP analysis, we get separate smooth rotation trajectories of all joints of robot. Then a smooth cooperation action of all joints of robot will be calculated by interpolate breakpoints which are selected in each rotation trajectory. Lastly, using tilt feedback control, we can get a smooth and stable walking of humanoid robot. To make robot walk corporately, we use three methods of interpolation to get all trajectories of 18 joints. The design of walking contains single-support phase planning and double-support phase planning. The effectiveness of our proposed method was confirmed by Matlab simulation and walk experiments of an actual 18 DOF humanoid robot.

Walking pattern design and feedback control for humanoid robot

In this paper, we investigate a planar parallel mechanism called five-bar mechanism which is used in wire bonders of semiconductor packaging system where the required accuracy is about 2 (um), acceleration reaches 10–15 (g). However, the conventional modeling and analyzing methods that treat all components of the manipulator as rigid and ignore all possible deformations, definitely are insufficient to satisfy those rigorous demands. Thus, in this paper, the dynamic model with consideration of both rigid motion and flexible displacement is developed for the five-bar manipulator. Finite element and Lagrange's equation methods are used to get the mathematical model, Lagrange multiplier method is applied to deal with constraint equations. By comparing dynamic behavior of the system modeled by rigid bodies and flexible bodies, the proposed flexible model is well validated, meanwhile, some analysis from simulation results are given.

Dynamic modeling of five-bar manipulator with structurally flexible linkages

Workspace is an important performance index for robotic manipulators. There have been numerous literatures on all aspects of it. This work aims to provide a full picture of workspace. An extensive review of manipulator workspace is presented in this paper, including classification, determination and analysis of workspace. Along with rapid progress of computer's computation performance, the manipulator workspace can be determined efficiently by a simple numerical discretization method, which contributes greatly to fast workspace analysis and design.

Zexiang Li

Papers

Hand Dynamics and Control

Drag reduction of blowing-based active control in a turbulent boundary layer

Walking pattern design and feedback control for humanoid robot

Dynamic modeling of five-bar manipulator with structurally flexible linkages

Survey of robotic manipulatorworkspace