Fundamentals of Robotic Mechanical Systems – Jorge Angeles – 2nd Edition

Modern robotics dates from the late 1960s, when progress in the development of made possible the computer control of a multiaxial manipulator. Since then, robotics has evolved to connect with many branches of science and , and to encompass such diverse fields as computer vision, artificial intelligence, and speech recognition.

This book deals with robots-such as remote manipulators, multifingered hands, walking machines, flight simulators, and machine tools-that rely on to perform their tasks. It aims to establish the foundations on which the , control and implementation of the underlying are based.

The treatment assumes familiarity with some calculus, linear algebra, and ; however, the elements of rigid-body and of linear transformations are reviewed in the first chapters, making the presentation self-contained. An extensive set of exercises is included.

Topics covered include: 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 manipulators; dynamics of general parallel manipulators of the platform type; and the kinematics and dynamics of rolling robots.

Since the publication of the previous edition there have been numerous advances in both the applications of robotics (including in laprascopy, haptics, , and most notably space exploration) as well as in the theoretical aspects (for example, the proof that Husty’s 40th-degree polynomial is indeed minimal – mentioned as an open question in the previous edition).

  1. An Overview of .
  2. Background.
  3. Fundamentals of Rigid-Body Mechanics.
  4. Geometry of Decoupled Serial Robots.
  5. Kinetostatics of Serial Robots.
  6. Trajectory Planning: Pick-and-Place Operations.
  7. Dynamics of Serial Robotic Manipulators.
  8. Special Topics in Rigid-Body Kinematics.
  9. Geometry of General Serial Robots.
  10. Kinematics of Alternative Robotic Mechanical Systems.
  11. Trajectory Planning: Continuous-Path Operations.
  12. Dynamics of Comples Robotic Mechanical Systems.
Title: Fundamentals of Robotic Mechanical Systems: Theory. Methods and Algorithms
Author: Jorge Angeles
Edition: 2nd Edition
ISBN: 0387945407 | 9780387945408
Type: eBook
Language: English
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