Incluye índice alfabético

1. INTRODUCTION
1.1 Introduction
1.2 Robotics
1.3 Components and structure of robots
1.4 Common kinematic arrangements
1.5 Outline of the Text
2. RIGID MOTIONS AND HOMOGENEOUS TRANSFORMATIONS
2.1 Rotations
2.2 Composition of rotations
2.3 Further properties of rotatations
2.4 Homogeneous transformations
2.5 Skew symmetric matrices
2.6 Angular velocity and acceleration
2.7 Addition of angular velocities
3. FORWARD KINEMATICS: THE DENAVIT-HARTENBERG REPRESENTATION
3.1 Kinematic Chains
3.2 Denavit Hartenberg Representation
3.3 Examples
4. INVERSE KINEMATICS
4.1 Introduction
4.2 Kinematic decoupling
4.3 Inverse position: a geometric approach
4.4 Inverse orientation
5. VELOCITY KINEMATICS – THE MANIPULATOR JACOBIAN
5.1 Derivation of the Jacobian
5.2 Examples
5.3 Singularities
5.4 Inverse velocity and
6. DYNAMICS
6.1 Euler-Lagrange equations
6.2 Expressions for kinetic and potential energy
6.3 Equations of motion
6.4 Some common configurantions
6.5 Newton-Euler formulation
6.6 Planar elbow manipulator resisited
7. INDEPENDENT JOINT CONTROL
7.1 Introduction
7.2 Actuator dynamics
7.3 Set-Point Tracking
7.4 Drive Train dynamics
7.5 Drive Train dynanics
8. MULTIVARIABLE CONTROL
8.1 Introduction
8.2 PD Control Revisited
8.3 Inverse dynamics
8.4 Implementation and robustness issues
8.5 Robust outner loop design
9. FORCE CONTROL
9.1 Introduction
9.2 Natural and Artificial Constraints
9.3 Stiffness and compliance
9.4 Inverse dynamic in task space
9.5 Impedance control
9.6 Hybrid position/force Control
10. FEEDBACK LINEARIZATION
10.1 Introduction
10.2 Background: The Frobenius Theorem
11.3 Single-Input Systems
10.4 Feedback Linearization for N-Link Robot
10.5 Introduction to outner loop design
10.6 Outner loop design by Lyapunov’s second method
11. VARIABLE STRUCTURE AND ADAPTATIVE CONTROL
11.1 Introduction
11.2 The method of sliding modes
11.3 Adaptative control
Appendix A: Linear algebra
Appendix B: state space theory of dynamical systems
Appendix C: Lyapunov stability