Kinematics and Trajectory Synthesis of Manipulation Robots

1 Kinematic Equations.- 1.1. Introduction.- 1.2. Definitions.- 1.3. Manipulator hand position.- 1.4. Manipulator hand orientation.- 1.5. Manipulator hand velocities.- 1.6. Summary.- 2 Computer-aided Generation of Kinematic Equations in Symbolic Form.- 2.1. Introduction.- 2.2. Symbolic kinematic equations.- 2.3. The Jacobian matrix with respect to the hand coordinate frame.- 2.4. The Jacobian matrix with respect to the base coordinate frame.- 2.5. Program implementation, numerical aspects and examples.- 2.6. Summary.- Appendix I Direct Kinematic Problem for the Arthropoid Manipulator.- Appendix II The Jacobian with Respect to the Hand Coordinate Frame for the Arthropoid Manipulator.- Appendix III The Jacobion with Respect to the Base Coordinate Frame for the Arthropoid Manipulator.- 3 Inverse Kinematic Problem.- 3.1. Introduction.- 3.2. Analytical solutions.- 3.3. Numerical solutions.- 3.4. Summary.- 4 Kinematic Approach to Motion Generation.- 4.1. Introduction.- 4.2. Manipulation task.- 4.3. Trajectory planning.- 4.4. Motion between positions.- 4.5. Procedurally defined motion.- 4.6. Summary.- 5 Dynamic Approach to Motion Generation.- 5.1. Introduction.- 5.2. Manipulation system dynamic model.- 5.3. An overview of methods for dynamic motion synthesis.- 5.4. Determination of the energy optimal velocity distribution using dynamic programming.- 5.5. Quasioptimal nominal trajectory synthesis using decentralized system model.- 5.6. Summary.- 6 Motion Generation for Redundant Manipulators.- 6.1. Introduction.- 6.2. Kinematic methods for redundant manipulator motion generation.- 6.3. Energy optimal motion synthesis.- 6.4. Obstacle avoidance using redundant manipulators.- 6.5. An algorithm for redundant manipulator motion synthesis in the presence of obstacles.- 6.6. Summary.-References.