"A Bradford book."

Includes bibliographical references (p. [241]-245) and index.

Machine generated contents note: 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.