This book introduces the capability map, a novel general representation of the kinematic capabilities of a robot arm. The coverage includes examples from several distinct application domains, including a bi-manual interface for tele-operation and more.

Latest research on Knowledge Representations for Planning Manipulation Tasks Presents manipulation tasks for a humanoid robot Written by a leading expert in the field

Inhalt
Review of the Literature.- Robot performance indices.- Modeling the robot workspace.- Visualization and setup evaluation.- Application in planning.