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Video Supplements for
Modern Robotics
Kevin M. Lynch and Frank C. Park
Cambridge University Press
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Kevin Lynch
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Table of Contents
Introduction
Introduction Autoplay
Introduction to the Lightboard
Acknowledgments
Chapter 2
Configuration Space
Chapter 2 Autoplay
Foundations of Robot Motion
2.1. Degrees of Freedom of a Rigid Body
2.2. Degrees of Freedom of a Robot
2.3.1. Configuration Space Topology
2.3.2. Configuration Space Representation
2.4. Configuration and Velocity Constraints
2.5. Task Space and Workspace
Chapter 3
Rigid-Body Motions
Chapter 3 Autoplay
Introduction to Rigid-Body Motions
3.2.1. Rotation Matrices (Part 1 of 2)
3.2.1. Rotation Matrices (Part 2 of 2)
3.2.2. Angular Velocities
3.2.3. Exponential Coordinates of Rotation (Part 1 of 2)
3.2.3. Exponential Coordinates of Rotation (Part 2 of 2)
3.3.1. Homogeneous Transformation Matrices
3.3.2. Twists (Part 1 of 2)
3.3.2. Twists (Part 2 of 2)
3.3.3. Exponential Coordinates of Rigid-Body Motion
3.4. Wrenches
Chapter 4
Forward Kinematics
Chapter 4 Autoplay
4.1.1. Product of Exponentials Formula in the Space Frame
4.1.2. Product of Exponentials Formula in the End-Effector Frame
Forward Kinematics Example
Chapter 5
Velocity Kinematics and Statics
Chapter 5 Autoplay
Velocity Kinematics and Statics
5.1.1. Space Jacobian
5.1.2. Body Jacobian
5.2. Statics of Open Chains
5.3. Singularities
5.4. Manipulability
Chapter 6
Inverse Kinematics
Chapter 6 Autoplay
Inverse Kinematics of Open Chains
6.2. Numerical Inverse Kinematics (Part 1 of 2)
6.2. Numerical Inverse Kinematics (Part 2 of 2)
Chapter 7
Kinematics of Closed Chains
Chapter 7 Autoplay
Kinematics of Closed Chains
Chapter 8
Dynamics of Open Chains
Chapter 8 Autoplay
8.1. Lagrangian Formulation of Dynamics (Part 1 of 2)
8.1. Lagrangian Formulation of Dynamics (Part 2 of 2)
8.1.3. Understanding the Mass Matrix
8.2. Dynamics of a Single Rigid Body (Part 1 of 2)
8.2. Dynamics of a Single Rigid Body (Part 2 of 2)
8.3. Newton-Euler Inverse Dynamics
8.5. Forward Dynamics of Open Chains
8.6. Dynamics in the Task Space
8.7. Constrained Dynamics
8.9. Actuation, Gearing, and Friction
Chapter 9
Trajectory Generation
Chapter 9 Autoplay
9.1 and 9.2. Point-to-Point Trajectories (Part 1 of 2)
9.1 and 9.2. Point-to-Point Trajectories (Part 2 of 2)
9.3. Polynomial Via Point Trajectories
9.4. Time-Optimal Time Scaling (Part 1 of 3)
9.4. Time-Optimal Time Scaling (Part 2 of 3)
9.4. Time-Optimal Time Scaling (Part 3 of 3)
Chapter 10
Motion Planning
Chapter 10 Autoplay
10.1. Overview of Motion Planning
10.2.1. C-Space Obstacles
10.2.3. Graphs and Trees
10.2.4. Graph Search
10.3. Complete Path Planners
10.4. Grid Methods for Motion Planning
10.5. Sampling Methods for Motion Planning (Part 1 of 2)
10.5. Sampling Methods for Motion Planning (Part 2 of 2)
10.6. Virtual Potential Fields
10.7. Nonlinear Optimization
Chapter 11
Robot Control
Chapter 11 Autoplay
11.1. Control System Overview
11.2.1. Error Response
11.2.2. Linear Error Dynamics
11.2.2.1. First-Order Error Dynamics
11.2.2.2. Second-Order Error Dynamics
11.3. Motion Control with Velocity Inputs (Part 1 of 3)
11.3. Motion Control with Velocity Inputs (Part 2 of 3)
11.3. Motion Control with Velocity Inputs (Part 3 of 3)
11.4. Motion Control with Torque or Force Inputs (Part 1 of 3)
11.4. Motion Control with Torque or Force Inputs (Part 2 of 3)
11.4. Motion Control with Torque or Force Inputs (Part 3 of 3)
11.5. Force Control
11.6. Hybrid Motion-Force Control
Chapter 12
Grasping and Manipulation
Chapter 12 Autoplay
Grasping and Manipulation
12.1.1. First-Order Analysis of a Single Contact
12.1.2. Contact Types: Rolling, Sliding, and Breaking
12.1.3. Multiple Contacts
12.1.6. Planar Graphical Methods (Part 1 of 2)
12.1.6. Planar Graphical Methods (Part 2 of 2)
12.1.7. Form Closure
12.2.1. Friction
12.2.2. Planar Graphical Methods
12.2.3. Force Closure
12.2.4. Duality of Force and Motion Freedoms
12.3. Manipulation and the Meter-Stick Trick
12.3. Transport of an Assembly
Chapter 13
Wheeled Mobile Robots
Chapter 13 Autoplay
13.1. Wheeled Mobile Robots
13.2. Omnidirectional Wheeled Mobile Robots (Part 1 of 2)
13.2. Omnidirectional Wheeled Mobile Robots (Part 2 of 2)
13.3.1. Modeling of Nonholonomic Wheeled Mobile Robots
13.3.2. Controllability of Wheeled Mobile Robots (Part 1 of 4)
13.3.2. Controllability of Wheeled Mobile Robots (Part 2 of 4)
13.3.2. Controllability of Wheeled Mobile Robots (Part 3 of 4)
13.3.2. Controllability of Wheeled Mobile Robots (Part 4 of 4)
13.3.3. Motion Planning for Nonholonomic Mobile Robots
13.3.4. Feedback Control for Nonholonomic Mobile Robots
13.4. Odometry
13.5. Mobile Manipulation
