1. Introduction
1.1 Constrained Motion
1.2 Mathematical Tools
2. Kinematics
2.1 Formulation of Joint Constraints
2.2 Position, Velocity, and Acceleration Equations
2.3 Constrained Kinematics
3. Analytical Methods
3.1 D’Alembert’s Principle
3.2 Virtual Work
3.3 Largrange’s Dynamics
3.4 Halmiltonian Formulation
4. Constrained Dynamics
4.1 Generalized Inertia
4.2 System of Rigid Bodies
4.3 Constrained Dynamic Equations
4.4 State Space Representation
4.5 Numerical Integration
4.6 Inverse Dynamics
4.7 Open and Closed Loop Systems
5. Spatial Dynamics
5.1 General Displacement
5.2 Euler Angles
5.3 Dynamics Equations of Motion
5.4 Recursive Methods
5.5 Rodriguez Formulation
5.6 Introduction to Geometrical Methods