Dynamics and Control of Robotic Systems, 1 by Kurdila, Andrew -- Read -- Imperial Library of Trantor

Index

Cover Table of Contents Preface Acknowledgment About the CompanionWebsite Chapter 1: Introduction

1.1 Motivation 1.2 Origins of Robotic Systems 1.3 General Structure of Robotic Systems 1.4 Robotic Manipulators 1.5 Mobile Robotics 1.6 An Overview of Robotics Dynamics and Control Problems 1.7 Organization of the Book 1.8 Problems for Chapter 1

Chapter 2: Fundamentals of Kinematics

2.1 Bases and Coordinate Systems 2.2 Rotation Matrices 2.3 Parameterizations of Rotation Matrices 2.4 Position, Velocity, and Acceleration 2.5 Angular Velocity and Angular Acceleration 2.6 Theorems of Kinematics 2.7 Problems for Chapter 2, Kinematics

Chapter 3: Kinematics of Robotic Systems

3.1 Homogeneous Transformations and Rigid Motion 3.2 Ideal Joints 3.3 The Denavit–Hartenberg Convention 3.4 Recursive Formulation of Forward Kinematics 3.5 Inverse Kinematics 3.6 Problems for Chapter 3, Kinematics of Robotic Systems

Chapter 4: Newton–Euler Formulations

4.1 Linear Momentum of Rigid Bodies 4.2 Angular Momentum of Rigid Bodies 4.3 The Newton–Euler Equations 4.4 Euler's Equation for a Rigid Body 4.5 Equations of Motion for Mechanical Systems 4.6 Structure of Governing Equations: Newton–Euler Formulations 4.7 Recursive Newton–Euler Formulations 4.8 Recursive Derivation of the Equations of Motion 4.9 Problems for Chapter 4, Newton–Euler Equations

Chapter 5: Analytical Mechanics

5.1 Hamilton's Principle 5.2 Lagrange's Equations for Conservative Systems 5.3 Hamilton's Extended Principle 5.4 Lagrange's Equations for Robotic Systems 5.5 Constrained Systems 5.6 Problems for Chapter 5, Analytical Mechanics

Chapter 6: Control of Robotic Systems

6.1 The Structure of Control Problems 6.2 Fundamentals of Stability Theory 6.3 Advanced Techniques of Stability Theory 6.4 Lyapunov's Direct Method 6.5 The Invariance Principle 6.6 Dynamic Inversion or Computed Torque Control 6.7 Approximate Dynamic Inversion and Uncertainty 6.8 Controllers Based on Passivity 6.9 Actuator Models 6.10 Backstepping Control and Actuator Dynamics 6.11 Problems for Chapter 6, control of Robotic Systems

Chapter 7: Image Based Control of Robotic Systems

7.1 The Geometry of Camera Measurements 7.2 Image Based Visual Servo Control 7.3 Task Space Control 7.4 Task Space and Visual Control 7.5 Problems for Chapter 7

Appendix A

A.1 Fundamentals of Linear Algebra A.2 The Algebraic Eigenvalue Problem A.3 Gauss Transformations and Factorizations

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