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Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms

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The 4th edition includes updated and additional examples and exercises on the core fundamental concepts of mechanics, robots, and kinematics of serial robots. New images of CAD models and physical robots help to motivate concepts being introduced. Each chapter of the book can be read independently of others as it addresses a seperate issue in robotics.

Author(s): Jorge Angeles (auth.)
Series: Mechanical Engineering Series 124
Edition: 4
Publisher: Springer International Publishing
Year: 2014

Language: English
Pages: 589
Tags: Mechanical Engineering; Robotics and Automation

Front Matter....Pages i-xxiii
An Overview of Robotic Mechanical Systems....Pages 1-25
Mathematical Background....Pages 27-94
Fundamentals of Rigid-Body Mechanics....Pages 95-138
Geometry of Decoupled Serial Robots....Pages 139-183
Kinetostatics of Serial Robots....Pages 185-254
Trajectory Planning: Pick-and-Place Operations....Pages 255-279
Dynamics of Serial Robotic Manipulators....Pages 281-351
Special Topics in Rigid-Body Kinematics....Pages 353-374
Geometry of General Serial Robots....Pages 375-419
Kinematics of Alternative Robotic Mechanical Systems....Pages 421-463
Trajectory Planning: Continuous-Path Operations....Pages 465-506
Dynamics of Complex Robotic Mechanical Systems....Pages 507-546
Back Matter....Pages 547-589