Table of contents for Mechanics of robotic manipulation / Matthew T. Mason.


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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 Reuleaux's 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 Coulomb's 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 Newton's 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








Library of Congress subject headings for this publication: Manipulators (Mechanism) Robotics