Book contents
- Frontmatter
- Contents
- Preface
- Acronyms
- 1 The Robot
- 2 Biomimetic Mechanisms
- 3 Homogeneous Transformations and Screw Motions
- 4 Direct Kinematics of Serial Robot Manipulators
- 5 Manipulators with Multiple Postures and Compositions
- 6 Grasping: Mechanics and Constraints
- 7 Jacobians
- 8 Newtonian, Eulerian, and Lagrangian Dynamics
- 9 Path Planning, Obstacle Avoidance, and Navigation
- 10 Hamiltonian Systems and Feedback Linearization
- 11 Robot Control
- 12 Biomimetic Motive Propulsion
- Answers to Selected Exercises
- Appendix: Attitude and Quaternions
- Bibliography
- Index
5 - Manipulators with Multiple Postures and Compositions
Published online by Cambridge University Press: 20 February 2010
- Frontmatter
- Contents
- Preface
- Acronyms
- 1 The Robot
- 2 Biomimetic Mechanisms
- 3 Homogeneous Transformations and Screw Motions
- 4 Direct Kinematics of Serial Robot Manipulators
- 5 Manipulators with Multiple Postures and Compositions
- 6 Grasping: Mechanics and Constraints
- 7 Jacobians
- 8 Newtonian, Eulerian, and Lagrangian Dynamics
- 9 Path Planning, Obstacle Avoidance, and Navigation
- 10 Hamiltonian Systems and Feedback Linearization
- 11 Robot Control
- 12 Biomimetic Motive Propulsion
- Answers to Selected Exercises
- Appendix: Attitude and Quaternions
- Bibliography
- Index
Summary
- Type
- Chapter
- Information
- Biomimetic RoboticsMechanisms and Control, pp. 89 - 110Publisher: Cambridge University PressPrint publication year: 2009