Mechanics of Robotic Manipulation (Google eBook)

Front Cover
MIT Press
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Contents

Manipulation
1
An automated assembly system
3
13 Issues in manipulation
5
14 A taxonomy of manipulation techniques
7
15 Bibliographic notes
8
Kinematics
11
22 Planar kinematics
15
23 Spherical kinematics
20
65 Static equilibrium problems
128
66 Planar sliding
130
67 Bibliographic notes
139
Quasistatic Manipulation
143
72 Pushing
147
73 Stable pushing
153
74 Parts orienting
162
75 Assembly
168

24 Spatial kinematics
22
25 Kinematic constraint
25
26 Kinematic mechanisms
34
27 Bibliographic notes
36
Kinematic Representation
41
32 Representation of spatial displacements
58
33 Kinematic constraints
68
34 Bibliographic notes
72
Kinematic Manipulation
77
42 Path planning for nonholonomic systems
84
43 Kinematic models of contact
86
44 Bibliographic notes
88
Rigid Body Statics
93
52 Polyhedral convex cones
99
53 Contact wrenches and wrench cones
102
54 Cones in velocity twist space
104
55 The oriented plane
105
56 Instantaneous centers and Reuleauxs method
109
57 Line of force moment labeling
110
58 Force dual
112
59 Summary
117
Exercises
118
Friction
121
62 Single degreeoffreedom problems
123
63 Planar single contact problems
126
64 Graphical representation of friction cones
127
76 Bibliographic notes
173
Exercises
175
Dynamics
181
83 Moment of force moment of momentum
183
84 Dynamics of a system of particles
184
85 Rigid body dynamics
186
86 The angular inertia matrix
189
87 Motion of a freely rotating body
195
88 Planar single contact problems
197
89 Graphical methods for the plane
203
810 Planar multiplecontact problems
205
811 Bibliographic notes
207
Exercises
208
Impact
211
92 Rigid body impact
217
93 Bibliographic notes
223
Dynamic Manipulation
225
102 Briefly dynamic manipulation
229
103 Continuously dynamic manipulation
230
104 Bibliographic notes
232
Exercises
235
Infinity
237
References
241
Author Index
247
Subject Index
249
Copyright

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Page 242 - Hirai, S. and Asada, H. Kinematics and Statics of Manipulation Using the Theory of Polyhedral Convex Cones, Int Journal of Robotics Res, 1993, Oct, vol 12, no 5, pages 435-447.

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