Mechanics of robotic manipulation Machine generated contents note: Chapter 1 Manipulation 1 1.1 Case 1: Manipulation by a human 1 1.2 Case 2: An automated assembly system 3 1.3 Issues in manipulation 5 1.4 A taxonomy of manipulation techniques 7 1.5 Bibliographic notes 8 Exercises 8 Chapter 2 Kinematics 11 2.1 Preliminaries 11 2.2 Planar kinematics 15 2.3 Spherical kinematics 20 2.4 Spatial kinematics 22 2.5 Kinematic constraint 25 2.6 Kinematic mechanisms 34 2.7 Bibliographic notes 36 Exercises 37 Chapter 3 Kinematic Representation 41 3.1 Representation of spatial rotations 41 3.2 Representation of spatial displacements 58 3.3 Kinematic constraints 68 3.4 Bibliographic notes 72 Exercises 72 Chapter 4 Kinematic Manipulation 77 4.1 Path planning 77 4.2 Path planning for nonholonomic systems 84 4.3 Kinematic models of contact 86 4.4 Bibliographic notes 88 Exercises 88 Chapter 5 Rigid Body Statics 93 5.1 Forces acting on rigid bodies 93 5.2 Polyhedral convex cones 99 5.3 Contact wrenches and wrench cones 102 5.4 Cones in velocity twist space 104 5.5 The oriented plane 105 5.6 Instantaneous centers and Reuleauxs method 109 5.7 Line of force; moment labeling 110 5.8 Force dual 112 5.9 Summary 117 5.10 Bibliographic notes 117 Exercises 118 Chapter 6 Friction 121 6.1 Coulombs Law 121 6.2 Single degree of freedomproblems 123 6.3 Planar single contact problems 126 6.4 Graphical representation of friction cones 127 6.5 Static equilibrium problems 128 6.6 Planar sliding 130 6.7 Bibliographic notes 139 Exercises 139 Chapter 7 Quasistatic Manipulation 143 7.1 Grasping and fixturing 143 7.2 Pushing 147 7.3 Stable pushing 153 7.4 Parts orienting 162 7.5 Assembly 168 7.6 Bibliographic notes 173 Exercises 175 Chapter 8 Dynamics 181 8.1 Newtons laws 181 8.2 A particle in three dimensions 181 8.3 Moment of force; moment of momentum 183 8.4 Dynamics of a system of particles 184 8.5 Rigid body dynamics 186 8.6 The angular inertia matrix 189 8.7 Motion of a freely rotating body 195 8.8 Planar single contact problems 197 8.9 Graphical methods for the plane 203 8.10 Planar multiple contact problems 205 8.11 Bibliographic notes 207 Exercises 208 Chapter 9 Impact 211 9.1 Aparticle 211 9.2 Rigid body impact 217 9.3 Bibliographic notes 223 Exercises 223 Chapter 10 Dynamic Manipulation 225 10.1 Quasidynamic manipulation 225 10.2 Briefly dynamic manipulation 229 10.3 Continuously dynamic manipulation 230 10.4 Bibliographic notes 232 Exercises 235