Fundamentals of Robotic Mechanical Systems: Theory, Methods, and AlgorithmsMechanical engineering, an engineering discipline borne of the needs of the industrial revolution, is once again asked to do its substantial share in the call for industrial renewal. The general call is urgent as we face profound is sues of productivity and competitiveness that require engineering solutions, among others. The Mechanical Engineering Series features graduate texts and research monographs intended to address the need for information in contemporary areas of mechanical engineering. The series is conceived as a comprehensive one that covers a broad range of concentrations important to mechanical engineering graduate education and research. We are fortunate to have a distinguished rost er of consulting editors on the advisory board, each an expert in one the areas of concentra tion. The names of the consulting editors are listed on the next page of this volume. The areas of concentration are: applied mechanics; biome chan ics; computational mechanics; dynamic systems and control; energetics; mechanics of materials; processing; thermal science; and tribology. |
Contents
Series Preface | 1 |
Kinetostatics of Simple Robotic Manipulators | 4 |
Mathematical Background | 19 |
Copyright | |
21 other sections not shown
Other editions - View all
Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms Jorge Angeles Limited preview - 2007 |
Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms Jorge Angeles Limited preview - 2002 |
Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms Jorge Angeles Limited preview - 2013 |
Common terms and phrases
3-dimensional vector a₁ acceleration actuated joint algorithm angle angular velocity array axes axis calculated Cartesian components computed condition number configuration coordinate frame cross-product Darboux vector decoupled manipulators defined denoted derived displayed dynamics eigenvalues end-effector Euler-Lagrange equations Euler-Rodrigues parameters expression FIGURE foregoing equation function Furthermore given hence identical intersection invariants inverse kinematics isotropic Jacobian matrix joint rates joint variables joint-rate kinematic pairs linear manipulator of Fig mass center Moreover motion multiplications namely Newton-Euler obtain orientation orthogonal P₁ parallel manipulators parameters planar Plücker Plücker coordinates polynomial pose position vector prismatic pair problem readily relation respect rigid body robot robotic manipulator robotic mechanical systems rolling robot rotation matrix scalar serial manipulators shown in Fig sides of eq singular solution solve spherical spline Subsection Theorem thereby time-derivatives torques trajectory transformation twist unit vector values vanishes wheels workspace wrench wrist zero