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This IMA Volume in Mathematics and its Applications ESSAYS ON
MATHEMATICAL ROBOTICS is based on the proceedings of a workshop
that was an integral part of the 1992-93 IMA program on "Control
Theory." The workshop featured a mathematicalintroductionto
kinematics and fine motion planning; dynam- ics and control of
kinematically redundant robot arms including snake-like robots,
multi-fingered robotic hands; methods of non-holonomic motion
planning for space robots, multifingered robot hands and mobile
robots; new techniques in analytical mechanics for writing the
dynamics of com- plicated multi-body systems subject to constraints
on angular momentum or other non-holonomic constraints. In addition
to papers representing proceedings of the Workshop, this volume
contains several longer papers surveying developments of the
intervening years. We thank John Baillieul, Shankar S. Sastry, and
Hector J. Sussmann for organizing the workshop and editing the
proceedings. We also take this opportunity to thank the National
Science Foundation and the Army Research Office, whose financial
support made the workshop possible. Avner Friedman Willard Miller,
Jr.
This IMA Volume in Mathematics and its Applications ESSAYS ON
MATHEMATICAL ROBOTICS is based on the proceedings of a workshop
that was an integral part of the 1992-93 IMA program on "Control
Theory." The workshop featured a mathematicalintroductionto
kinematics and fine motion planning; dynam- ics and control of
kinematically redundant robot arms including snake-like robots,
multi-fingered robotic hands; methods of non-holonomic motion
planning for space robots, multifingered robot hands and mobile
robots; new techniques in analytical mechanics for writing the
dynamics of com- plicated multi-body systems subject to constraints
on angular momentum or other non-holonomic constraints. In addition
to papers representing proceedings of the Workshop, this volume
contains several longer papers surveying developments of the
intervening years. We thank John Baillieul, Shankar S. Sastry, and
Hector J. Sussmann for organizing the workshop and editing the
proceedings. We also take this opportunity to thank the National
Science Foundation and the Army Research Office, whose financial
support made the workshop possible. Avner Friedman Willard Miller,
Jr.
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