Fundamentals of Robotic Mechanical Systems : Theory, Methods, and Algorithms / by Jorge Angeles.

Springer eBooks

An Overview of Robotic Mechanical Systems -- Mathematical Background -- Fundamentals of Rigid-Body Mechanics -- Geometry of Decoupled Serial Robots -- Kinetostatics of Serial Robots -- Trajectory Planning: Pick-and-Place Operations -- Dynamics of Serial Robotic Manipulators -- Special Topics in Rigid-Body Kinematics -- Geometry of General Serial Robots -- Kinematics of Alternative Robotic Mechanical Systems -- Trajectory Planning: Continuous-Path Operations -- Dynamics of Complex Robotic Mechanical Systems.

Fundamentals of Robotic Mechanical Systems, Third Edition addresses robots at large - such as multi-fingered hands, walking machines, flight simulators, and machine tools - that rely on mechanical systems to perform their tasks. The author establishes the foundations on which the design, control, and implementation of the underlying mechanical subsystems are based. The treatment assumes familiarity with some calculus, linear algebra, and elementary mechanics; however, the elements of rigid-body mechanics and linear transformations are reviewed in the first chapters, making the presentation self-contained. Features of this book are: kinematics and dynamics of serial manipulators with decoupled architectures trajectory planning determination of the angular velocity and angular acceleration of a rigid body from point data inverse and direct kinematics of general serial and of parallel manipulators dynamics of general parallel manipulators of the platform type kinematics and dynamics of rolling robots This edition has been reorganized and includes new exercises as well as new photographs and all material have been updated where appropriate.

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