Abstract: The manipulator differentiable manifold kinematics formulation presented in Part I of this paper is employed for forward and inverse kinematic analysis and formulation of ordinary differential equations of motion on disjoint, ...

Abstract: Using basic tools of Euclidian space differential geometry, maximal singularity free components of the regular manipulator configuration space are defined, with conditions that establish the space as a differentiable ...

Abstract: Four formulations of nonholonomic mechanical system dynamics, with both holonomic and differential constraints, are presented and shown to be well posed; i.e., solutions exist, are unique, and depend continuously on problem ...

Abstract: Topological and vector space attributes of Euclidean space are consolidated from the mathematical literature and employed to create a differentiable manifold structure for holonomic multibody kinematics and dynamics. Using ...

Abstract: A redundant serial manipulator inverse position kinematic mapping is employed to define a new manipulator operational space differentiable manifold and an associated system of well posed operational space differential ...

Abstract: A method is presented for formulating and numerically integrating ordinary differential equations (ODEs) of motion for holonomically constrained multibody systems. Tangent space coordinates are defined as independent ...

Abstract: A method is presented for formulating and numerically integrating ordinary differential equations of motion for nonholonomically constrained multibody systems. Tangent space coordinates are defined in configuration and ...

Abstract: The Maggi and Kane equations of motion are valid for systems with only nonholonomic constraints, but may fail when applied to systems with holonomic constraints. A tangent space ordinary differential equation (ODE) extension ...

Abstract: A recently published treatment of nonredundant manipulator kinematics and dynamics on differentiable manifolds is extended to kinematically redundant manipulators. Analysis at the configuration level shows that forward ...