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1 Time-Optimal Path Planning Along Specified Trajectories . . . . . . . 1 Francisco Geu Flores and Andre´s Kecskeme´thy 2 Efficient Online Computation of Smooth Trajectories Along Geometric Paths for Robotic Manipulators . . . . . . . . . . . . . . . . . . 17 Lukas Messner, Hubert Gattringer, and Hartmut Bremer 3 Constraint and Dynamic Analysis of Compliant Mechanisms with a Flexible Multibody Modelling Approach . . . . . . . . . . . . . . . 31 R.G.K.M. Aarts 4 Sensor Data Fusion for the Localization and Position Control of One Kind of Omnidirectional Mobile Robots . . . . . . . . . . . . . . . 45 Peter Eberhard and Qirong Tang 5 Modelling and Control of Infinite-Dimensional Mechanical Systems: A Port-Hamiltonian Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 Markus Scho¨berl and Andreas Siuka 6 Passivity-Based Tracking Control of a Flexible Link Robot . . . . . . 95 Peter Staufer and Hubert Gattringer 7 Norm-Optimal Iterative Learning Control for a Pneumatic Parallel Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 Dominik Schindele and Harald Aschemann 8 Balance and Posture Control for Biped Robots . . . . . . . . . . . . . . . . 129 Maximo A. Roa and Christian Ott 9 Robot-Based Testing of Total Joint Replacements . . . . . . . . . . . . . 145 Christoph Woernle, Michael Ka¨hler, Roman Rachholz, Ja´nos Zierath, Sven Herrmann, Robert Souffrant, Daniel Kluess, and Rainer Bader

Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ix 1 Preliminaries 1.1 Elements of Linear Algebra . . . . . . . . . . . . . . . . . . . . . . 1 1.2 Normed Linear Spaces . . . . . . . . . . . . . . . . . . . . . . . . . 24 2 Properties of Linear and Nonlinear Operators 2.1 Linear Operators . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 2.2 Compact Linear Operators . . . . . . . . . . . . . . . . . . . . . . 78 2.3 Contraction Principle . . . . . . . . . . . . . . . . . . . . . . . . . 93 3 Abstract Integral and Differential Calculus 3.1 Integration of Vector Functions . . . . . . . . . . . . . . . . . . . . 109 3.2 Differential Calculus in Normed Linear Spaces . . . . . . . . . . . . 126 3.2A Newton Method . . . . . . . . . . . . . . . . . . . . . . . . 144 4 Local Properties of Differentiable Mappings 4.1 Inverse Function Theorem . . . . . . . . . . . . . . . . . . . . . . . 149 4.2 Implicit Function Theorem . . . . . . . . . . . . . . . . . . . . . . 156 4.3 Local Structure of Differentiable Maps, Bifurcations . . . . . . . . 166 4.3A Differentiable Manifolds, Tangent Spaces and Vector Fields . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193 4.3B Differential Forms . . . . . . . . . . . . . . . . . . . . . . . 207 4.3C Integration on Manifolds . . . . . . . . . . . . . . . . . . . . 220