Forward/inverse kinematics for manipulators, Denavit-Hartenberg (DH) parameters, Product of exponentials (POE) formulation, Jacobian matrices (linear/angular velocity), Singularity analysis (manipulability ellipsoid),...
Forward/inverse kinematics for manipulators, Denavit-Hartenberg (DH) parameters, Product of exponentials (POE) formulation, Jacobian matrices (linear/angular velocity), Singularity analysis (manipulability ellipsoid), Static equilibrium (wrench closure), Force/torque relationships.
Grasp quality metrics (force closure, form closure), Grasp wrench space (GWS) and manipulability, 2D/3D grasp synthesis (independent contact regions), Friction cone constraints (LMI formulation), Optimal grasp planning (convex optimization), Parallel jaw vs. multifinger grasps, Underactuated hands.
In-hand manipulation (finger gaiting, regrasp), Rolling contact kinematics, Part mating (chamferless assembly), Fixturing and form closure, Hybrid position/force control, Impedance/admittance control, Variable admittance for compliant manipulation.
Coulomb friction model (stick-slip), Complementarity formulations (LCP, NCP), Time-stepping integrators (MuJoCo, Drake), Hybrid zero dynamics for manipulation, Tactile sensing and feedback, Slip detection and grip adjustment, Soft robotics grasping (continuum models).
Data-driven grasp prediction (DexNet, GraspNet), 6-DoF grasp detection (deep CNNs, PointNet++), Sim-to-real transfer (domain randomization, system ID), Reinforcement learning for manipulation (QT-Opt, RLBench), Vision-based servoing (IBVS, 6D pose estimation), Model-based planning (MPC with contacts).