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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

Preface ix 1. Basic inequalities I 2. Normed spaces and bounded linear operators 18 3. Linear functionals and the Hahn—Banach theorem 45 4. Finite-dimensional normed spaces 60 5. The Baire category theorem and the closed-graph theorem 75 6. Continuous functions on compact spaces and the Stone— Weierstrass theorem 85 7. The contraction-mapping theorem 101 8. Weak topologies and duality 114 9. Euclidean spaces and Hubert spaces 130 10. Orthonormal systems 141 11. Adjoint operators 155 12. The algebra of bounded linear operators